Powershell universal agent\proxy

Product: PowerShell Universal
Version: 3.9.16

Hello,
We have two domains in out environment.

I need to execute commands on another domain, different AD, etc…
I open access from our psu server to the DMZ environment that on another domain.

The problem is that I cant run powershell as different domain user without trust between the domains.
Trust between the domain is not an option…
Tried using invoke-command to the server I try to execute command on but without luck.

I see there is an “Agent” environment option on psu, but there is no information about how to use it.

Basically, I want to use “proxy” psu agent\server for executing commands on different environment from my main psu server.

Any suggestions how to accomplish it?