Groups/Active Directory Synch from two domains

I've got a support call into Eset regarding this but so far no answers. I'm running 3.1.11 RA (Yes, I'll be updating that real soon).

I'm trying to clean up the policies and groups on my RA server.

The issue I have is that we have two domains. Let's call them DOMAINA and DOMAINB. How can I do AD synchronization from two domains?

The other thing I don't quite understand is how the synchronization works long term. For example, let's say I have PC1 which is is in GROUP1 which inherits Policy1. Now we move the PC in AD to GROUP2 which should inherit Policy2. Will the RA automatically see that change in AD or do I have to go in and do a manual resync on a regular basis to catch these changes in AD?

I see there's been some improvements in policies in V4 of the RA. Would it be worth giving V4 Beta a try? Anybody using it in production? Any major issues?

Thanks.