To investigate the issue would be nice to get the logs with the errors. It can be many things like Firewall, not to hace C$....
Could you confirm if TCP ports 139 and 445 are open from your ePO server to the Clients. The agent is deployed from the ePO server by copying the FramePkg.exe file to the $ADMIN share at the remote end using SMB, then it is executed locally to install the agent.
Once the agent is installed it reports back to the ePO server on TCP 433 (default for MA > 4.8) and ePO then reports as 'Managed'
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