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How are you adding your machines to the Machine Group you are scanning from ?
Maybe as a first test, to rule out some resolution variables, could you add these 2 servers into a new test Machine Group by IP Address ?
Are you still getting the error 201 ?
If a add the server by name i get error 452
If i add the server by IP the error it is 201
If you do a nslookup of the IP address it will give you back a hostname, is it the correct hostname ?
Now if you nslookup that hostname, are you getting the correct IP address back ?
Also, you can try the different tests from that doc : Scanning a remote machine using Protect fails with Error 452: Unable to connect to the remote machine
If you want, you can open a ticket with the support, we can look into this for you.
Nslookup doesn.t work because the target machine it is a workgroup machine.
The link you provided looks ok, already tried that.