Agile methodologies usually recommend approaching each feature in Vertical Slices (also see here).
This means that you should develop a feature from end-to-end.
When doing this you should apply "You aren't gonna need it" or YAGNI. This means that you should build "just enough" of each layer to implement your feature.
You probably don't need the full domain model implementing for each feature. You backend coders implement the parts that the frontend coders need, just before they need it.