SAP TAP can be installed in any machine but TAO agents should be installed in Solution Manager.
Check below compatibility matrix then in the same URL and under Release and Upgrade info, you can find TAO admin guide.
To access this site, you need an OSS ID so work with your Basis team to get one ID and try to access this URL.
But best practice is , install SAP TAO wherever you installed QC, QTP .
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