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Where can I set the endpoints for pub&sub in rclpy lib so that my publisher on windows can send data to the listener running on Linux VM.

I believe you're misunderstanding how publish-subscribe works. In contrast to approaches where there are clients and servers, pub-sub systems are (comparable to) peer-to-peer. DDS (the default middleware for ROS2) then adds auto-discovery of domain participants (ie: nodes (but really: publishers and subscribers)).

So to answer your question: you don't.

The only thing you need to do is make sure that all involved hosts are on the same network segment and things "should just work".