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First this feature is an add-on so you need a license for it to be activated on your Discovery as a Service instance or in your on-prem Discovery appliance.
It works the same way as other sync methods (CMDB API, CMDB REST API, RemedyForce).
You can check the DasS documentation for more - Setting up a CMDB synchronization connection - Documentation for BMC Helix Discovery - BMC Documentation
Does it require creation of Classes for CI & Relationship on ServiceNow CMDB side as part of pre-requisites?