I'm working on setting this up, however when the popup box appears on the laptop wanting me to click on the link for additional authentication I am brought to a webpage saying the connection has timed out. Now the url is going after <ip address>:6081. If I do a port scan against the IP address I do not see it listening on port 6081. I have wide open access to the backend IP address.
I'm faily certain that based on what you described it sounds like you're being directed back to your firewall, as you should, to enforce your MFA requirements.
It's kinda weird to see, but Palo appends your destination site, with specific syntax / port usage to enforce cetain policies like MFA / 'Click to Continue' URL options.
So the IP that you're seeing in the URL bar is really your desitination IP address, and the port your're also seeing (6081) is actually being refrenced to your firewall not the port actually being opened on the destination IP address.
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