SELECT dbo.vComputer.Name, dbo.Inv_AeX_AC_NT_Services.StartupType AS 'Windows Firewall Startup Type'
FROM dbo.Inv_AeX_AC_NT_Services INNER JOIN
dbo.vComputer ON dbo.Inv_AeX_AC_NT_Services._ResourceGuid = dbo.vComputer.Guid
WHERE (dbo.Inv_AeX_AC_NT_Services.Name LIKE N'mpssvc')
Will give you something like:
Name Windows Firewall Startup Type
SMP Automatic
WIN2012A Automatic