A Venafi TPP server works with having the McAfee Agent installed.
Many customers today utilize both Venafi Trust Protection Platform and McAfee Agent. This would depend on configuration on the exact policies on the McAfee side to ensure that it does not block any access to ports or files that Venafi requires to operate effectively. This can be done by providing the list of ports and folders that Venafi will require. There are no specific version requirements either on both sides.