Looking at the DAAgent log file it seems that the connection fails when the client requests a tcp socket connection with the Deployment Server. This action most likely expects IPv4 style address. I am attaching the DAAgent log and also the firewall rules screenshot showing Altiris rules.
[01/07/2013 22:13:57.527 2880 0] DsAgent.cpp:175 caught unhandled exception connecting to DS
common\ipc\TcpSocketIpc.cpp:71 CTCPSocketIPC::Connect Failed to connect e=0, s=10060
[01/07/2013 22:13:57.527 2880 0] bootstrap.cpp:637 unhandled exception thrown from startup code
common\ipc\TcpSocketIpc.cpp:71 - CTCPSocketIPC::Connect Failed to connect
Value=0, SystemError=0x0000274C