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Connection timed out is basically related to network issues. Can you ping the servers, telnet at 4750? Is the agent configured to listen on any other port other than 4750? Send the rscd.log from one the failed servers. with ISA i believe there might be some firewalls etc. See the logs if anything on rscd.exe is being blocked. Also, from the nsh shell, run agentinfo against the server and paste the results. If you are getting this via Console, try using the IP address for agentinfo. Maybe there is some issue with the dns as well
Also see KB, for agent connectivty issues: https://kb.bmc.com/infocenter/index?page=content&id=KA287249&actp=search&viewlocale=en_US&searchid=1333004519555
Hope this helps.