I have reproduced your problem. Unfortunately, I haven't been able to
determine the cause of it yet. It does appear that if the SharedAccess
(aka Windows Firewall/ICS) service is not running, this error will
occur. As you found however, making SharedAccess a dependency of the
Condor service does not fix the problem.
The error meaning for 0x800706D9 is "There are no more endpoints
available from the endpoint mapper.", which doesn't seem to tell us much
either.
I will follow up with this thread once I learn a bit more about the problem.