"Failed to establish a TCP connection"
Explanation: Officially Cisco says that the VPN client can't complete the connection over a TCP/IP connection
and use IPSEC only or IPSec over UDP...
In simple terms.. check the firewall settings, maybe your firewall is blocking some TCP/IP ports.. or maybe it's your
local security software on your laptop... Check the logs on both if you can... and if not.. Yes IPSec over UDP should
work if need be.