I've searched the web and can't find a way to have a local Team Foundation Server auto discovered by Visual Studio.
Is it possible to configure it in e.g. Active Directory or the DNS server?
No, It's not possible.
VS use Team Explorer to connect to TFS, we have to provide the credential to add the TFS server first. The TFS server information is stored with Team Explorer. So, we can do nothing in AD or DNS server.
Once created the connection, the second time to start VS, it will automatically connect to the TFS server.