I think what you're looking for is the agent configuration that should be deployed on the specific machines to which users in the specified group should be able to connect. See screenshot below. For the specific workstations you referenced, you'll want to deploy the agent with 'Must be member of one of the following group(s):' checked, and your 'Authenticated Users' group added to that list. The screenshot should also explain why you received the error when trying to connect as a non-admin domain user.
If this doesn't do the trick for you, I'd suggest opening a Support ticket.