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Monitoring an Azure Windows Virtual Machine from on-site NPM?

I've just started a new job at a company that has a few Virtual Machines running Server 2012 R2 hosted on Azure.
For some of them, we have a site to cloud VPN so I've added them to NPM and am polling them ok through the tunnel.

For another server, there's no VPN so I'm trying to poll it over the internet.
In the Azure control panel, I've created a custom Endpoint passing UDP traffic from a public port 16161 to the private port 161.
On the VM itself the firewall is set to allow SNMP traffic through the firewall, but I still can't add it to NPM using machinename.cloudapp.net:16161

Has anyone successfully monitored Azure machines over the internet in this fashion, and did you have to do anything different?

Thanks


Alex