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docs: Rename `universe_domain` to `universe-domain` #658

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Run time

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Job	Run time
windows	2m 12s
lint	1m 15s
docs	53s
test (14)	1m 26s
test (16)	1m 25s
test (18)	1m 44s
test (20)	1m 31s
	10m 26s