Your XP PCs can’t connect to the Server 2012 R2 domain because Server 2012 R2 uses SMB 2 and above, whilst Windows XP only supports SMB 1.
To fix this, on the Server 2012 R2 domain controllers, install the SMB 1.0 Feature and make the following registry change:
HKEY_LOCAL_MACHINE\SYSTEM\CurrentControlSet\Services\LanmanServer\DependOnService
Change SamSS Srv2 to SamSS Srv
Then restart the Server (Lanmanserver) service.
Windows XP PCs will then be able to connect to the Server 2012 R2 domain.