How to Allow Domain Users to use SCCM Remote Control

Solutions :-

Please Add Domain users in Permitted viewers of Remote control and Remote Assistance.

Step by Step

Navigate to Administration\Overview\Client Settings

Select Default Client settings and right click and click on Properties.

Select Remote Tools Tab under Default settings and click on Permitted viewers of Remote Control and Remote Assistance and select Set Viewers.

Add Domain Users and then click ok.

Please do allow to client to receive policy about 60 minutes by default .If you want it fast ? Go to control panel of the client machines and click on Machine Policy Retrieval & Evaluation Cycle.