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What to the agent logs say when they are running the deployment task ?
This should give some idea to why they are failing.
The deployment task will not deploy a brand new agent, that is only for upgrading existing agents. To deploy a brand new agent you can use the AD sync like you tried or the other option of choosing new systems. As long as it shows that the push was successful in the server task log then you have to wait upto 10 mins for them to show up, its a randomized number.
I'm having this exact same problem. I upgraded to ePO 4.0 Patch 2 this week and my agents aren't deploying after AD sync. Maybe an issue with Patch 2? Anyone have anymore info on this?