Yes, definitely install on the same machine. I think it would be a huge waste of resources to place VA on its own server.
I don't know about "trusted host part", it's been some time since I installed it and it's been just hummin' along quite nicely
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I agree with Toby: putting this on the same server makes the most sense in my mind so that you can avoid jumping through a bunch of unnecessary hoops to get it configured to do what it really needs to do!
As for the trusted host part, we just went through this install/config on the same server similar to what it sounds like you're doing, and we had to get the trusted host portion configured before it would work properly. The hardest part to confirm here is if the IP is listed as a Trusted Host. Make sure to reference this link when creating the trusted ticket. In order to confirm this, there is a page documenting how to validate. Use it! It is your best friend in this circumstance.