You can use a different ASSC key pair for each ePO - On-prem server to ensure that all agents can communicate with the required ePO - On-prem servers in an environment where each server must have a unique agent-server secure communication key pair.
Note
Agents can communicate with only one server at a time. The ePO - On-prem server can have multiple keys to communicate with different agents, but the opposite is not true. Agents cannot have multiple keys to communicate with multiple ePO - On-prem servers.
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From each ePO - On-prem server in your environment, export the main agent-server secure communication key pair to a temporary location.
Import each of these key pairs into every ePO - On-prem server.