As for domains, I don't know what you mean by them, but if they're catching errors at a higher level than the async library, my guess is that they must be some more sophisticated sort of top-level handler; perhaps something that keeps track of which async calls are in progress and attempts to bind exceptions back to their context? Whatever it is, it sounds complicated.
But what I understand least of all is how you guys all seem to write Javascript code that generates almost no exceptions. To me that sounds almost like bug-free code. No null references, for example? I get stuff like that all the time.