Communication to and from elasticagent

does elastic agent pull policies changes from fleet or fleet pushes policies to elastic agent?

At any point does fleet server initiates communication with elastic agent? If yes how does fleet server authenticate that it is the actual fleet server. i.e Elastic agent communicates with fleet using communication API key, how does the vice versa happens?

By communication i mean API calls

Elastic Agent pulls the changes from fleet, it is the agent that initiates the communication.

It has a periodic health check, if there are changes in policies, then it will get the changes.

Got it. Thanks!