Hi,
1.When error message prompts, please choose view certificates and verify that the details and thumbprint match what is configured in RD Gateway Manager on the RD Gateway server.
2.Check one of the problematic clients PC and navigate to the Trusted Root Certification Authorities. If there is no certificate used for RDG, kindly export from RDG and import here as test.
3.On your RDWeb server, open IIS Manager. In left pane, navigate to and select Default Web Site\ RDWeb\ Pages In middle pane, double-click on Application Settings. Modify DefaultTSGateway and set it to the correct FQDN for your existing RD Gateway server.
Hope this helps and please help to accept as Answer if the response is useful.
Thanks,
Jenny