First check that the problem is indeed a client firewall issue and not related to either incorrect broker settings (like using private AWS IP as advertised listener) or AWS security rules (not allowing external machines to connect on port 9092/9093). Easiest way to check is by publishing yourself from an external host without a firewall.
Next check that they have allowed TCP connections on port 9092 (or whatever you are using for Kafka) to pass through their client side firewall.
If it's not possible to open this port in the firewall then you might consider either sending the data to a TCP proxy (like haproxy) on port 80 or 443 since those posts are often open.
If that still doesn't work then consider publishing using an HTTP(S) proxy like the Confluent REST Proxy as it uses standard HTTP(S) ports and protocols that should traverse most client firewalls.