Agent communication error – 21001 – caused by wrong type of trust

I was working with a customer that had deployed several agents in the same domain as the OpsMgr servers, but when deploying to servers in other trusted domains, the following error occurred in the Agents OpsMgr event log: Event Type:    Error Event Source:    OpsMgr Connector Event Category:    None Event ID:    21001 Date:        Time:     User:        N/A…