Will you be able to control Scout via internal network, wifi access, secured private connection directly from our internal network to the robot without relaying data to some server linked to any 3rd party?

Yes. Scout supports "WiFi direct" mode, where the smartphone connects to the bot directly. Even going through the "WiFi router" mode (in this mode, the bot can be accessed worldwide), the connection is secured peer-to-peer. The video stream doesn't go through any servers.