As you may recall from the section Editing the configuration in Chapter 4, Installing and Configuring the Unified Remote Access role, the Infrastructure Server configuration (step 3 – page 4) is about management servers, so what does that mean?
Well, management servers are servers that are specifically listed in the URA policy as accessible through the first tunnel, in a scenario where the two tunnels model is used (as opposed to the one with the Kerberos proxy, and only a single tunnel). As you may recall from the preface, the purpose of the first tunnel in the 2-tunnel scenario is to provide access to your domain controllers, so that the client computer can perform Kerberos authentication and obtain the Kerberos ticket as part of establishing the second tunnel.
The Management Servers option allows you to specify servers that will be granted access through the first tunnel, in addition to DCs. This means that these servers will be fully accessible to clients...