Is there a form for us to give our clients to acknowledge that we have access to their servers, work stations, etc.?
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Answer:
We cannot give legal advice. The following is not a substitute for the advice of a local attorney. But we hope the information will be useful.
Do you have written contracts for services with these clients? If so, does the contract mention the remote access? It is hard to believe that they don't know you're doing this. But regardless, you certainly need to have a written contract, and it needs to describe the remote access and their consent thereto.
It would also be wise to include a provision stating that they agree not to sue you for harm caused to their computer systems/servers/etc by anything short of intentional wrongdoing by your firm.
That would protect your company in the event that through some accident or even negligence (which is the unintended failure to use reasonable care) something bad happens to their server or computers for which they'd be inclined to sue you.