Hello,
You are able to connect to RMS and RMS VPN hub from any public internet.
Meanwhile, if your company network has some restrictions and does not allow certain outbound traffic - nothing could be done from RMS side to circumvent that. In such case, you could ask your IT administrators to check if anything could be done locally from your company network side, so that outbound traffic would not be restricted.
At this moment in time RMS VPN hub only uses UDP protocol.