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Bulk add/discover agents

We are managing one of our remote environments via agent, server-initiated.  Only connectivity between Poller and nodes is port 17790.  The agents are all deployed as part of the build process.   From what I can tell so far, there is no easy way to bulk discover agents.  Looking at SWQL explorer, I could probably script it, but still not ideal.

Am I missing something?  I would prefer to avoid a manual process on 200 servers.

Thank you in advance for any advice

Ben