Hi,
Problem is bcoz your SOHO71 router is doing PAT, and that breaks IPSec, and bcoz when 3nd client requests UDP500, it bounces off the first one.
Configure your pix fw (make sure that you have V6.3.1 on it) with this command:
pix(config)# isakmp nat-t
and then configure client to use NAT Transparency (IPSec/UDP).
Thx
Afaq