A domain is always need for XMPP. That’s part of the protocol. Even if you use only a single server.
It does not means however that it has to be registered in DNS.
You can use .(JavaScript must be enabled to view this email address) to connect and use IP to define on which host to connect to.
Did you try putting .(JavaScript must be enabled to view this email address) as Jabber id and your IP in server. As OpenFire does not support virtual hosting, I guess you can put anything as domain basically and he will accept it.