Have a look at https communication in Wireshark for example. What you wrote is incorrect. Https reveals the domain at least one time these days. First, ssl extension SNI (https://en.m.wikipedia.org/wiki/Server_Name_Indication) is sent, which reveals the domain you're requesting. This happens before the keys are exchanged.

Then, the matching certificate is sent (again in plaintext) from the server so that you can verify it and extract the keys. It will contain the domain again, although it may be a partial one like *.example.com

So no, the domain is public. The full URL path is encrypted though.