Apple Remote Desktop via VPN

At my office I have an iMac 2013 with ARD client 3.7.1
At home I have an iMac 2013 with ARD 3.7.2
I would like to connect from my iMac at home to my office iMac via VPN (Cisco IPSec) and ARD.
According to my IT-department I'm behind the Firewall with a VPN connection, so they do not have to set any ports.
The connection to my office is made and I see my office iMac in the list (scanner).
Everything is also set right in system preferences and Remote Management is checked on my office iMac.
When I try to observe, curtain or control my office Imac it will not connect and after a while I get the message:
"Check if Screen Sharing is enabled". This is rather strange because with ARD Screen Sharing has to disabled.
When I try to send a file via ARD to my desktop on my office iMac, it is no problem and it arrive easily.
I also see what my current used program is, I can empty my trash bin, etc. etc. But cannot control, observe or curtain.
I also have a windows computer at my office and with same VPN connection and Microsoft Remote Desktop I can easily connect and control this computer from my Imac at home.
Is there anybody who could help me and have the solution so I can control/obersve/curtain my office iMac via VPN and ARD.
I'm searching for an answer on Internet for weeks now, but could not find a solution.

I've got the exact same problem.
I have tried to kickstart ARD on the 10.4.11 (Mac OS Server).
Finder gets the "shared computers" icon available and says I can connect to the server with Screen Sharing. But it fails to connect when trying.
Have checked for old Keychains (and recreated them).

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