There is a known issue with UAC not properly calculating if a user actually has an admin token or not. Users in high level domain groups, like Domain Admins, will still be considered "administrators" regardless of their local computer group membership and therefore will be prompted for credentials by UAC. One may consider this a bug, or a feature :/
Furthermore, the "User Account Control must automatically deny elevation requests for standard users" policy setting breaks functionality on a Domain Admin Privileged Access Workstation (where Domain Admins are not local administrators). Attempts to open "privileged apps" like RSAT tools result in an immediate block by policy. This is resolved by changing the behavior of the elevation prompt for standard users from 'automatically deny' to 'prompt for credentials'.
For many organizations, these settings must be enabled to pass security audits. Perhaps Microsoft will fix this behavior as Privileged Access Workstations become more mainstream.
There is more discussion on this behavior here and here.
One option available to those in this situation is to use RunAsInvoker to suppress UAC prompts. You can save shortcuts on your PAW desktop to allow running tools without additional elevation prompts. The tool will run with the permission of the logged on user, but not in an elevated context. If you are logged in as a Domain Administrator you will have that level of access within the tools you run. One draw-back I found is if a tool, like Group Policy Management Console, opens additional applications (like the group policy editor snap-in to edit a GPO), those applications will still prompt you for credentials. So, it isn't perfect.
Here is an example that will launch Active Directory Users & Computers without prompting for credentials:
cmd.exe /C "SET __COMPAT_LAYER=RunAsInvoker & START MMC.exe DSA.msc"