Does a SRAM AXS crankset (12-speed road) work on a Shimano drivetrain?
No. The SRAM 12-speed AXS crankset is designed for the SRAM Flattop chain; with a Shimano 12-speed drivetrain (Hyperglide+) the chainline and tooth profile don't match. Use a crankset from the same brand/system as the chain.
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Source: SRAM / Shimano. Indicative data — always check the manufacturer's official specs.