Hi Keith
First of all the behavior you describe is correct and expected. If you configure 2 aaa servers (regardless of whether it's radius, ldap, etc.) then the ASA will consider them as having identical user DB's, and so will only use the 2nd when the 1st is unreachable.
So the solution would indeed consist of having a global catalog server (GCS) that can search both domains, and point the ASA to that server (or set of servers). The downside is that the global catalog server may not have information about local groups which may be needed for authorization and or DAP.
Having said that, there may be an alternative if you are using (or willing to change to) double authentication (i.e. certificate based authentication + username/password) or if you are ok to use certificate based authentication with LDAP authorization (i.e. only the cert is used to log in, the ldap attributes are only used to override settings in the group-policy).
In that case you can use tunnel group mapping (i.e. have certificates from one domain land on a certain group, and another domain on another group). Since each group has its own aaa-server config, you can point them to different ldap servers.
hth
Herbert