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you need to differentiate between domain.xml and host.xml. So in order to use the HA profile you would need to basically do:
-) in domain.xml create a server-groups using the 'ha' profile (like the 'other-server-group')
-) in host.xml define the servers you want to start locally and associate it with your 'ha' server-group
So with the managed domain mode you don't start using the 'ha profile' you rather can have different profiles active at the same time, you just need to create and start the servers accordingly.