Windows Authentication for SQL Server Linked Servers
The only way you can pass Windows Credentials between servers to my knowledge is via delegation as you've already taken a look at.  If there's truly no way to get delegation working in your environment, an alternative to delegation is to fall back to mapping your Domain accounts to SQL authenticated accounts on the remote server that are setup with permissions that are equivalent to your needs.  The downside here is any query executed remotely will be logged to the SQL Authentication account and not your AD Account, so audits won't be as transparent unless you take pains to map a one-to-one SQL Authenticated account to AD Account.

To map AD accounts to remote SQL Authenticated accounts, you first need to create the SQL Authenticated accounts on the remote server and then configure local logins to map to them on your linked server.  If you're happy to use the GUI, you can find this window under Server Objects → Linked Servers → Linked Server Name → Properties → Security Page:



If you prefer TSQL instead, you can perform this same functionality via the sp_addlinkedsrvlogin stored procedure.

Final Note Here: Because you don't have delegation setup, you'll want to leave the Impersonate checkbox unchecked or if you're using TSQL, the @useself parameter should be passed in as FALSE otherwise it will try to pass through authentication which won't work in your scenario.