Tested up to version 10.7.0.667.17 of McAfee Endpoint Security.
First, get the encrypted McAfee config file. Easiest way is to use the ESConfigTool (run as admin):
ESConfigTool.exe /export c:\temp\config.bin
Then, run the decryptor:
python decrypt.py config.bin
<ENSConfiguration toolVersion="2.0">
<policies>
<module name="Endpoint Security Platform">
<businessObject id="AP" version="2.0">
<General>
<Available>true</Available>
<Managed>false</Managed>
<EnabledInMC>true</EnabledInMC>
<NonCompliantFlags>0</NonCompliantFlags>
<FilterSecs>300</FilterSecs>
<FilterType>0</FilterType>
<AacCoreVersion>SYSCORE.19.7.0.195</AacCoreVersion>
<DefEventMapFile>C:\Program Files\McAfee\Endpoint Security\Endpoint Security Platform\EmDefXlateMap.xml</DefEventMapFile>
</General>
<Initiator>
<CsvInclude />
<CsvExclude />
<Executables></Executables>
</Initiator>
<Groups></Groups>
<Rules></Rules>
[..]
</xs:schema>
</businessObject>
</module>
</policyContracts>
</ENSConfiguration>