No, MinIO does not support PutObjectAcl. It supports bucket level permissions but not object level ACLs in that form of the API.
MinIO does NOT support the full AWS API. See https://docs.min.io/minio/baremetal/security/minio-identity-management/policy-based-access-control.html for the fully supported API set.
MINIO_DOMAIN needs added for DNS style buckets to happen, which is why the invalid PUT happens. Once we get further we see the failures in the XML against what is allowed in the schemas. Make sure you NEVER put any policy in place that has variables not supported in the supported set that MinIO actually supports.
Remember: S3-compatible does NOT mean it’s a 100% match for all supported AWS S3 API variables/endpoints/values.