I don't know off the top of my head the native ways of configuring the PSRP 
endpoint but usually the Set-PSSessionConfiguration cmdlet in Powershell 
(https://docs.microsoft.com/en-us/powershell/module/microsoft.powershell.core/set-pssessionconfiguration?view=powershell-5.1)
 
woud be a good place to start looking.

Ansible uses the native WinRM endpoint so configuration the rootSDDL is 
what you would do to configure permissions for Ansible. The PSRP side is 
based on WinRM but you could consider it an extension of WinRM so some of 
the configuration is separate from the base listener. I could be wrong 
about Read but it is used to read the configuration for WinRM so it 
probably isn't necessary for Ansible but it would be best to try that.

If you want to run the same endpoint that Ansible uses you can use the 
winrs executable to run the raw WinRM commands not over PSRP. We have some 
examples of how you can call the winrs executable here 
http://docs.ansible.com/ansible/devel/user_guide/windows_setup.html#common-winrm-issues.
 
You can also use pywinrm natively without Ansible if you don't have a 
WIndows box ready.

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