It's not clear from your post whether you are an employee or self-employed. If you are an employee (you get a W-2), under the new tax law you cannot deduct mileage or any other business expenses.
If you are self-employed, you can deduct as a business expense the mileage when you go from one of the Maryland company's locations to another in the course of a day. You cannot deduct the mileage to or from home.
The fact that you do not go to the agent's location has nothing to do with it.
