Is there anyway to somehow configure third-party firewall/router
devices so
they can authenticate with BorderManager as a remote server w/o
running
NetWare?

I do NOT want to put the VPN Client on the PCs. That works fine for
the
client operations but with you add a Domain in with the mix, the user
cannot
log into the domain from the PC because the VPN client isn't active
yet.

This would save me from putting a NetWare box at each remote location,
just
for ONE or two PCs to VPN over the Internet to our systems...