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The best way is to use the Rogue System Detection 2.0 for ePO 4.0 which will detect wether a computer has an epo agent (I think it can also detect if it has AV protection and if it's up-to-date).
But if you don't want to use ePO I don't know if there's another way to make these queries sad
Do I need to purchase this? Or is this something I can download and install in my Epo 4.0 software list?
If I'm not wrong RSD license is included with the ePO one so you should be able to download it from McAfee's site.
You only need to install it on the ePO server and it will create the package repository for beeing deployed
This is correct, you should find it under the ePO section on the download site. You can find instructions to use it in the latest ePO guide. The first guide didnt have it as RSD wasnt available for ePO 4.0 when it first shipped.