Token-based server access validation failed with an infrastructure error

I have a SQL server we have been using for quite some time.  Recently it started generating the following error: Login failed for user 'MYDOMAIN\DC1$'. Reason: Token-based server access validation failed with an infrastructure error.

I have read a lot of posts on the subject but in my scenario the issue seems to be coming from 2 of our 3 domain controllers.  The events are logged every 45-60 seconds.

But everything seems normal in terms of connectivity.  The only thing that is abnormal for us is that SQL will drop all connections and we receive a transport error in SSMS every 2-3 days or so.

Any ideas?