Linksys BEFSX41 IPSEC VPN connect to SBS 2003 with 2 nics and NAT

I have been looking all day and I can't find the answer to my question.
I have tried all posts that seem somewhat related but none are exactly
what i'm doing. And they seem to fail for some reason.

I have 5 networks I want to network together, but i'm just working on
getting 2 to work at the moment. Here is my test setup that I can't
figure out.

Location 1:
Cable modem -> Win 2003 server w/ NAT (2 nics) -> 5 computers

Windows 2003 static ip
EXTERNAL: 24.5.5.5 (made up, example)
INTERNAL: 192.168.1.0/24 (actual)

Location 2:
Cable Modem -> Linksys BEFSX42 Router -> 2 computers

Linksys router
EXTERNAL: 24.5.6.6 (made up, example)
INTERNAL: 192.168.5.0/24 (actual)

I have IPsec policies configured on the 2003 server, I can establish an
IPsec connection. However neither sides can see / ping each other.

I noticed when playing around in routing and remote access when i
turned it off and back on, just doing VPN with out nat. Changed my
IPsec policy on router and 2003 server to reflect the change. And it
sort of worked. I can ping the server, but the server still could not
ping me. I could access files on the server but I wouldn't show up in
network neighborhood.

I'm woundering how do I get this to work, is there a way to get this to
work? I'm way past deadline on this solution for a customer and i'm
stuck. My only other idea I had was to disable NAT on the server, setup
a switch with the server and a router pluged into it, and then plug the
router into the server as well. So the server would be local to the 5
computers at location 1 and as well others could VPN into the router.

Any Idea's. Help please.