Datasync Agent in VPC

A customer is interested in DataSync and their security department is telling them to use VPC Endpoints/PrivateLink. As the team is looking through the documentation to provide the security department, a point of clarification is needed (https://docs.aws.amazon.com/datasync/latest/userguide/datasync-in-vpc.html).

Documentation states that the agent can be "either on-premises or in-cloud and the DataSync service doesn't need to travel across the public internet or need public IP addresses". The following paragraph goes on to describe considerations when deploying the agent in a VPC. The customer would prefer to deploy the VMWare Datasync agent on-premises.

East question that I would like answered: Does the agent have to be deployed in a VPC to use VPCE?

Thank you in advance.