Oracle 18c

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CREATE TABLE table_name ( data ) AS
SELECT '<ID>
  <DOMAIN>IND</DOMAIN>
  <DOMAINID>112AC</DOMAINID>
</ID>
<GROUP>
  <GP>ASIA</GP>
  <RSN>GOOD</RSN>
</GROUP>' FROM DUAL
1 rows affected

SELECT x.*
FROM   table_name t
       CROSS APPLY XMLTABLE(
         '//root'
         PASSING XMLTYPE( '<root>' || t.data || '</root>' )
         COLUMNS
           domain   VARCHAR2(10) PATH './ID/DOMAIN',
           domainid VARCHAR2(10) PATH './ID/DOMAINID',
           gp       VARCHAR2(50) PATH './GROUP/GP',
           rsn      VARCHAR2(50) PATH './GROUP/RSN'
       ) x


DOMAIN
DOMAINID
GP
RSN


IND
112AC
ASIA
GOOD


SELECT  XMLQUERY(
          '/root/ID/DOMAINID/text()'
          PASSING XMLTYPE( '<root>'||data||'</root>' )
          RETURNING CONTENT
        ) AS domainid
FROM    table_name


DOMAINID


112AC