Sometimes, RAM just needs to be re-seated. It's the same with PCI cards, AGP cards, processors, etc... sometimes the connection is lost for one reason or another and you need to reseat the component.
With that said, either you have bad RAM or you don't. Either you have a bad logic board or you don't. Relying on whether or not your system crashes is NOT a reliable to test. You need to run an actual hardware test (hint, hint Apple Hardware Test that came with your machine).
What your are seeing can be a normal response to bad RAM. The logic board will use the memory that is closest first. The further away they RAM, the higher up in the address space the RAM modules are placed. If you have a bad stick of RAM on the inside, your Operating System gets corrupted quickly and your machine crashes. If you have a bad stick of RAM on the outside, only the data/software that is put in that RAM module gets corrupted. Run the Apple Hardware Test in multiple arrangements and see what you get.
Also, the idea that the bigger RAM modules should be closer to the processor (in the center on the G5) is a good idea in theory. In practice, it shouldn't make a single bit of difference. The bottom line is that it will not take extra cycles of the RAM clock for data to come from the outside modules. If it did, the system should be redesigned.