DKIM verification for emails sent from another domain using main domain

Say, I have two domains. and Both are hosted in different server thus have separate IP. Both have their own DKIM, SPF and DMARC records set up properly.

Now, if I send regular emails from those domains, they work and gets verified by other MX servers. No issue there.

But if I try to send email using the SMTP details of using FROM address of an email id in, mails usually go to spam because of failed DKIM verification.

Is there any way to send emails using but using FROM address of the domain ?