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Can the Tech priest dominus join this squad? I would say yes since they are already a squad of Infantry and MC's which to mean means that somewhere an allowance was made. Also the TPD can take wargear that let him give Kastelan orders, so he's got that going for him...

Anyone agree or disagree?

Giving the datasmith RoftTM gives the squad cognis rule and then the TPD could give everyone IWND with that other relic. Plus his already super IWND would make that unit nigh unkillable.

ICs cannot join units that contain MCs. If the Kastelan Robot Maniple contains MCs, than ICs cannot join it.

If you mean the special formation that has a Tech Priest Dominus joining TWO Robot Maniples, then yes in that specific case they can, because the formation gives special permission to do so.

Otherwise no. The rule isn't "if the unit contains infantry units it becomes a normal squad". It's literally "if the unit contains any MCs, you can't join".

This does come up in one other case, where one of the old Farsight Enclaves battlesuit characters is a MC Independent Character (the riptide I believe). He is allowed to join a unit, but the moment he does so no other models are allowed since there's a MC in the unit now. However, if another model joins first, then it's allowed and the other characters aren't "booted out" when he joins, since when they joined there wasn't a MC in it. At least that's how I remember it.

That formation is pretty good !