Ah, okay. macOS Server has Open Directory and not Active Directory. The latter is Microsoft.
This is pretty close to the "fun" of a fresh installation, having been through this on several occasions.
DNS is still not involved with the VPN services, unless the domain that's been used for the internal services and the internal OD was what was lost. If that's been lost—and I'm guessing that's what has happened here—then you're headed toward an OD migration and rebuild. That's not a small project.
Hopefully, the changeip command will fix this. That's the command-line command that can rename and re-address a server.
The man page for changeip has some command syntax details:
changeip [-v] [-d path] old-ip [new-ip] [old-hostname new-hostname]
If the changeip tips over for some reason, then this'll involve an export of all directory data using slapcat, edit the resulting LDIF for the new domain, and then reload the directory data. Any Base64-encoded data in the directory will have to be decoded and checked for the domain name, and I'd look for line-wrapped names.
There may well be a script to do this with LDIF data, though I've not looked for one of those.
This'll also involve reconfiguring internal DNS to match the new domain and new host names.
And re-creating the server certificates, or requesting and loading new commercial certificates.
For external access? Get a new domain registered, and reconfigure or re-provision the DNS client to use that. Use a subdomain of that or use a second and separate registered domain for the internal network.
What'll be a smaller effort... Move the VPN server out to the firewall, using a firewall that includes an embedded VPN server. You're probably going to have to do that eventually, given the deprecation of VPN services and the deprecation of most of the rest of the macOS Server.app features, and given that AirPort hardware has also been retired. The firewall-embedded VPN server can also avoid a lot of the above as a workaround, if you're willing to reconfigure some clients to use firewall-based authentication and not check with the server.
Given most of Server.app has been deprecated, I'd also look at where you're headed next, given what you're going through here. If changeip doesn't work, you're well along on performing a migration, pragmatically.