Workfaround fix problem reported in https://www.drupal.org/project/domain/issues/3478258 . It is assume to get fixed once https://www.drupal.org/project/domain/issues/2888033 it is closed.

3478258-7.patch

diff --git a/domain_access/src/Plugin/Action/DomainAccessActionBase.php b/domain_access/src/Plugin/Action/DomainAccessActionBase.php
index dfc2b944..b61f5691 100644
--- a/domain_access/src/Plugin/Action/DomainAccessActionBase.php
+++ b/domain_access/src/Plugin/Action/DomainAccessActionBase.php
@@ -72,7 +72,7 @@ abstract class DomainAccessActionBase extends ConfigurableActionBase implements
       '#type' => 'checkboxes',
       '#title' => t('Domain'),
       '#options' => $domains,
-      '#default_value' => $this->configuration['id'],
+      '#default_value' => $this->configuration['id'] ?? [],
       '#required' => TRUE,
     ];
     return $form;