Ur5 headless control from ros2 humble

I am trying to use a ur5 with ros2 humble. I set the robot into remote control mode (not the remote urcap script) and commands I send from rviz fail with a timeout. When I use the remote urcap script the arm follows the commands just fine so I know its possible and it feels like I am doing something incorrectly with my launch file configuration for headless mode on the external ros pc. Are there known working launch scripts for headless mode? Could I be missing something on the robot side to correctly listen to the ros messages?
I am on the newest robot firmware and ros2 is running on bare metal (not in docker). Any help would be great.