There are a number of companies, not just Palo Alto Networks, that perform various different scales of scans of the entire IPv4 space, some of them perform these scans multiple times per day. I setup a set of scripts to log all "uninvited activity" to a couple of my systems, from which I discovered a whole bunch of these scanner "security" companies. Personally, I treat them all as malicious. There are also services…
How does an ip scan help with general DNS resolution at all?
If ports 80 or 443 are open and there's a web server fingerprint (Apache, nginx, caddy, etc) then they could use further tools to try to discover domain names etc.