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Which hypervisor are in use?

vsphere esxi 6.7

Then you are able to configure the sysprep and domain join via template customizations

for the machines already created by the template it can be a problem not to have the sysprep ??

It's hard to say. Years ago MS told us that in some cases sysprep is not needed. It's difficult to know which cases sysprep is needed and where it's not needed, I think it depends on the feature/application.

In the old days, Sysprep was needed to ensure SIDs (security IDs) were not duplicated and to ensure certain registry keys were unique. I believe that when you domain join a VM, the SIDs are made unique. In my lab, I haven't sysprepeed in years without issue.

Could there be problems with KMS and Wsus server?

Could be. I don't use those in my lab. so, not sure

You can run into issues with KMS, I’ve had it happen before, it won’t increment the license usage count if every machine has the same sid.

if i run a sysprep on a machine with storefront and delivery controller what should i consider?

if you change the SID on the delivery controller you might break the machine account association in the database, I wouldn’t do it

I better remove the secondary delivery server and storefront, sysprep and reinstall the roles by adding them back to the site.