Update:  Made some progress.  I reinstalled all the sssd and realm packages, 
created a realmd.conf file and configured krb5.conf.  It now creates the 
computer account but then can not set the password for the computer account.  
Error: Cannot contact any KDC for requested realm.

kinit domainadmin

[root@server01 etc]# realm join -v abc.com
 * Resolving: _ldap._tcp.abc.com
 * Performing LDAP DSE lookup on: x.x.161.252
 * Performing LDAP DSE lookup on: x.x.161.251
 * Successfully discovered: abc.com
 * Required files: /usr/sbin/oddjobd, /usr/libexec/oddjob/mkhomedir, 
/usr/sbin/sssd, /usr/sbin/adcli
 * LANG=C /usr/sbin/adcli join --verbose --domain abc.com --domain-realm 
abc.com --domain-controller x.x.161.252 --computer-ou OU=Linux 
Servers,OU=Servers,DC=abc,DC=com --login-type user 
--login-ccache=/var/cache/realmd/realm-ad-kerberos-1RWWUY
 * Using domain name: abc.com
 * Calculated computer account name from fqdn: server01
 * Using domain realm: abc.com
 * Sending netlogon pings to domain controller: cldap://x.x.161.252
 * Received NetLogon info from: dc02.abc.com
 * Wrote out krb5.conf snippet to 
/var/cache/realmd/adcli-krb5-YXbCzH/krb5.d/adcli-krb5-conf-sHH9Wy
 * Looked up short domain name: abcAir
 * Using fully qualified name: server01
 * Using domain name: abc.com
 * Using computer account name: server01
 * Using domain realm: abc.com
 * Calculated computer account name from fqdn: server01
 * Generated 120 character computer password
 * Using keytab: FILE:/etc/krb5.keytab
 * Using fully qualified name: server01
 * Using domain name: abc.com
 * Using computer account name: server01
 * Using domain realm: abc.com
 * Looked up short domain name: Abc
 * Computer account for server01$ does not exist
 ! Couldn't find a computer container in the ou, creating computer account 
directly in: OU=Linux Servers,OU=Servers,DC=abc,DC=com
 * Calculated computer account: CN=server01,OU=Linux 
Servers,OU=Servers,DC=abc,DC=com
 * Created computer account: CN=server01,OU=Linux 
Servers,OU=Servers,DC=abc,DC=com
 ! Couldn't set password for computer account: server01$: Cannot contact any 
KDC for requested realm
adcli: joining domain abc.com failed: Couldn't set password for computer 
account: server01$: Cannot contact any KDC for requested realm
 ! Failed to join the domain
realm: Couldn't join realm: Failed to join the domain

realmd.conf
[root@server01 sssd]# more /etc/realmd.conf
[service]
automatic-install = no

[users]
default-home = /home/%D/%U
default-shell = /bin/bash

[a.hawaiian.aero]
computer-ou = OU=Linux Servers,OU=Servers,DC=abc,DC=com
automatic-id-mapping = yes
fully-qualified-names = no


[root@PHXRASPCI01 log]# more /etc/krb5.conf
[logging]
 default = FILE:/var/log/krb5libs.log
 kdc = FILE:/var/log/krb5kdc.log
 admin_server = FILE:/var/log/kadmind.log

[libdefaults]
 dns_lookup_realm = true
 dns_lookup_kdc = true
 ticket_lifetime = 24h
 renew_lifetime = 7d
# forwardable = true
 rdns = false
 default_realm = ABC.COM
# default_ccache_name = KEYRING:persistent:%{uid}
# kdc_timesync = 1

[realms]
 ABC.COM = {
 kdc = dc01.abc.com
 kdc = dc02.abc.com
 admin_server = dc01.abc.com
#  default_domain = ABC.COM
 }

[domain_realm]
# .example.com = EXAMPLE.COM
# example.com = EXAMPLE.COM

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