This was a rather unusual use of 4 ea sme servers !
No 1 is a "standard sme server", ok, but the other 4 does not, i think, use any of those typical functions that make up an sme server. One the other hand there might be no reason that say that the sme server can not be used, even though I must admit it is not the first server I would think about for this certain use. (Why use a preconfigured web, mail, ftp and samba server for some iptelephony application ??)
When it comes to the firewall part of it I think it is just as easy, or difficult or imposible, that you want it to be.
If one should set up a firewall for some server functions where the only known issue is that the comunication will be a quite lot more complicated one than for an ordinary sme server, it will ofcource be impossible to configure a firewall for that.
If on the other hand you sat up the servers, let it run in an "ordniary operating mode", or "used as for normal operations" wheli you are logging and monitoring all trafick to and from the server, you will have that required datas for configuring the firewall.
When you can say for shure what the "normal dataflow" is, then you can configure the firewall for letting trough this trafick, nothing less, nothing more.
When it comes to this kind of trafick, I think it will be a very good idea to avoid nat in the server end. I don't know if there could be any issues with the Linux firewall, when it comes to these "special datastreams" related to ip telephony, but well, as long as routing and nat functions is avoided I will guess it can handle it.
Not my business, but I can not avoid to ask "myself" one question: For server 2-4, why not rather use a stripped down installation of a Linux server based on the new 2.6.x kernel, and then install those specialized server functions on such a platform as the "main server functions" for that platform ?
If the datastreams is very complicated it might be an idea to use a Linux bridge as already mentioned, and then to use this to analyse the trafick passing trough. The bridge installation can then be used to monitor and record the trafick so that firewalls at the servers or on the bridge can be configurated according to this.