Telecommuting with US with occasional visits on-site

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Ye standard disclaimer: IANAL

You might have to get a consultation from an immigration lawyer to get exact details.

The best of information I have you can travel to the US under B1/B2 visa and VWP to:

consult with business associates

attend a scientific, educational, professional, or business convention or conference

Technically what you are doing is consulting with US business associates, while performing work and representing a company in Ireland. If you were so called W-2 employee of the US company and receive payment from the US company directly and or cash the check received from the company in the United States then you will be in violation of the terms of your visa.

Otherwise you're not but if you want to check on precedents set for this type of situations by law you will need to get in touch with an immigration lawyer.

Karlson 45036

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Source: stackoverflow.com

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