Without the logs I suspect analysis will not be easy or even possible.
All I can really suggest is you run whever errors you do have through the McAfee Knowledge base, and perhaps see if you can try installing the sensor on something other than Windows 2000.
Manual install is unlikely to be much different, all ePO is doing is pushing over the same MSI package as you would be using and executing it.
Is your Win2K server fully up to date?
I know a VSE requires the SP4 rollup 1 installed prior to installation. maybe the rogue sensor is the same
You need to delete all the deployment tasks from teh database
make sure you allow RSD to communicate through your firewall if not alrady there
by adding firewall rule with local service 137
and 8443 rule or whatever port you chose for In traffic
disable HIPS and VSE
create the deployment tasks again
ensure your policy is configured and enabled and has the epO server IP as rogue system server
ensure the user has rights to the MSSQL databases server roles is set to sysadmin
run / execute the query on the ePO database
DELETE FROM EPOTask
AND TaskType = 'SensorDeployment'
Then install the rogue sensor
select your group or systems then
Click on Actions Rogue Sensor InstallRogue Sensor
Plase do include the logs and screenshot of your detected systems if this doesnt work