I think you mixed envelope (RFC5321) and headers (RFC5322) in your text.
The domain name in the From: field in the email envelop header is inspected and aligned with other domains authenticated by either SPF or DKIM:
The envelope does not have any header, the headers are in the content/body of the email. Also your screenshot of the "Here’s an example email envelop from an organization that passes all of the email security guidelines:" are the mail headers and not the envelope information.
The domain name in the From: field in the email envelop header is inspected and aligned with other domains authenticated by either SPF or DKIM:
The envelope does not have any header, the headers are in the content/body of the email. Also your screenshot of the "Here’s an example email envelop from an organization that passes all of the email security guidelines:" are the mail headers and not the envelope information.
Great presentation on this topic from dmarc.org
https://dmarc.org/presentations/Email-Authentication-Basics-...