Windows time service settings

If you want to set local tme client to point to specific time servers (ex. 0.centos.pool.ntp.org, 1.centos.pool.ntp.org and 2.centos.pool.ntp.org), open command line and type:

w32tm /config /manualpeerlist:"0.centos.pool.ntp.org,1.centos.pool.ntp.org,2.centos.pool.ntp.org" /syncfromflags:manual /update

Query syntax is as follows:
w32tm /query [/computer:] {/source | /configuration | /peers | /status} [/verbose]

Don’t know how to display offset between two servers, but you can display offset between two servers and local computer and figure it out:

w32tm /monitor /computers:0.centos.pool.ntp.org,zg1.ntp.carnet.hr
0.centos.pool.ntp.org[162.159.200.1:123]:
    ICMP: 5ms delay
    NTP: +0.0048841s offset from local clock
        RefID: (unknown) [0x04087C0A]
        Stratum: 3
zg1.ntp.carnet.hr[161.53.123.5:123]:
    ICMP: 4ms delay
    NTP: +0.0071290s offset from local clock
        RefID: stratum.ntp.CARNet.hr [161.53.123.8]
        Stratum: 2

To display a chart of the offset between this computer and another computer:

w32tm /stripchart /computer:0.centos.pool.ntp.org /samples:4
Tracking 0.centos.pool.ntp.org [162.159.200.123:123].
Collecting 4 samples.
The current time is 11.3.2021. 9:33:48.
09:33:48, d:+00.0097740s o:+00.0048374s  [                           *                           ]
09:33:50, d:+00.0054590s o:+00.0067177s  [                           *                           ]
09:33:52, d:+00.0047548s o:+00.0063610s  [                           *                           ]
09:33:54, d:+00.0046417s o:+00.0063650s  [                           *                           ]

where d: is round trip delay and o: is offset.
To point time client to sync with domain controller:

w32tm /config /syncfromflags:domhier /update

Reference: Windows Time service tools and settings (Microsoft Docs)