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If we used an internal certificate for CMG it looks like we would need to move to a public cert for CMG to make this work reliably?
Great question! I recently went through this. The main issue that we found was that our PKI CRL wasn't accessible externally (from the internet). So if you're doing Autopilot off the business network, clients can't find the CRL so they will fail to install. So the workaround for us was to use a public certificate.