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The following works for me:

Remote machine

GAZEBO_IP=172.23.1.170 GAZEBO_MASTER_URI=172.23.1.170:12345 gzserver

Local machine

GAZEBO_IP=172.23.3.104 GAZEBO_MASTER_URI=172.23.1.170:12345 gzclient

If a similar setup doesn't work, try running gzserver and gzclient with the --verbose option. Also check the logs in ~/.gazebo.

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