Others have experienced a similar error(like here) and the solution was that the error is not an error and will be demoted to a debug message in later releases.
The real error seems to be this:
Did you have a look in the logs on the APM server?
Do you have a firewall in between(although you already said that the agent can connect for healthchecks)?
Apache, Apache Lucene, Apache Hadoop, Hadoop, HDFS and the yellow elephant
logo are trademarks of the
Apache Software Foundation
in the United States and/or other countries.