How to configure multiple vps with one domain and subdomains

Hello. I am new in this panel and do not know good DNS but.
I have 1 dedicated and 2 VPS. Dedicated server use cPanel and VPS use CWP.
Name it D1, V1 and V2 server.

I have one domain: domain.com
I want to use this one domain with all servers. Use subdomain for vps server.
I want delegate: vps1.domain.com to V1 and vps2.domain.com to V2 and create name servers.
So I want it will be like this:

========= D1 ==========
panel: cPanel
domain: domain.com
IP: 10.10.10.1
NS:
  ns1.domain.com
  ns2.domain.com

DNS configuration:

domain.com. 86400 IN NS ns1.domain.com.
domain.com. 86400 IN NS ns2.domain.com.
domain.com. 14440 IN A 10.10.10.1
ns1 14440 IN A 10.10.10.1
ns2 14440 IN A 10.10.10.1

========== V1 =========
panel: CWP
domain: vps1.domain.com
IP: 10.10.10.10
NS:
  ns1.vps1.domain.com
  ns2.vps1.domain.com

========== V2 =========
panel: CWP
domain: vps2.domain.com
IP: 10.10.10.20
NS:
  ns1.vps2.domain.com
  ns2.vps2.domain.com

----

What should I change in D1, S1 and S2 server DNS configuration to make it work ?? Thank You.

Just by adding A name record on your main server (Cpanel server) for each subdomain will do the whole job.

So now I have 3 domains.

a.eu
b.eu
c.eu

I want a.eu -> D1
b.eu -> S1
c.eu -> S2

So I use ns1.domain.com and ns2.domain.com for a.eu domain
I want to use: ns1.vps1.domain.com and ns2.vp1.domain.com for b.eu domain
I want to use: ns1.vps2.domain.com and ns2.vp2.domain.com for c.eu domain

How to configure DNS record for D1, S2 and S2 ?

since this is custom setup you should test this with your sysadmin as DNS is hard to troubleshoot with testing it.

Well again I will say you just need to add A name record for each sub from your cpanel server and change nameserver of your vps to expected.