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Use RD Gateway to allow connection to non domain joined PC

I have a PC that is joined to Azure AD domain. The rest of the PCs on the LAN are joined to an on premise AD domain.

Staff use the RD Gateway server which runs on the DC (Server 2012) to RDP into their desktop PCs - the ones joined to the AD domain.

Is it possible to use the same RD Gateway server to allow connection to the non AD domain joined (Azure AD joined) PC?
Remote AccessWindows Server 2012

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Seth Simmons

8/22/2022 - Mon