If you've already got one machine working, then you're already aware that Apple Remote Desktop uses UDP port 3283 for communication, and that you've setup port forwarding on your router to direct that traffic to a single machine.
About the only two ways I can think of overcoming this are to use non-standard ports or SSH Tunneling.
non-standard ports might work if ARD lets you specify which port number to connect to, and if your router supports port mapping (as well as port forwarding).
In your router, setup alternative port numbers to point to different machines' 3283. For example:
3283 -> machine1:3283
3284 -> machine2:3283
3285 -> machine3:3283
Then on your remote system, instead of telling ARD to connect to your <public IP address>, tell it to connect to <public IP address>:<port number of machine>, like:
123.45.67.89:3283 -> machine 1
123.45.67.89:3284 -> machine 2
123.45.67.89:3285 -> machine 3
If the router can perform port translation (as well as IP address translation), this may work for you.
The alternative is ssh tunneling:
The idea here is that you open an ssh tunnel to a single machine with specific commands that open a tunnel to one of the other machines in your internal network. In this way the machine to ssh to becomes a proxy for your ARD connections. You also get the advantage that all ARD traffic is encrypted in an SSH session.
Lets say your internal machines have IP addresses:
10.1.0.1
10.1.0.2
and 10.1.0.3
and your router has the public IP address 123.45.67.89
setup your router to forward incoming ssh (TCP 22) connections to the first machine (10.1.0.1)
Then on your external machine, run:
ssh -L 3283:<address of internal machine>:3283 123.45.67.89
i.e.
ssh -L 3283:10.1.0.2:3283 123.45.67.89 to get to the second machine, and
ssh -L 3283:10.1.0.3:3283 123.45.67.89 to get to the third machine.
The -L switch tells ssh to forward connections on a local port (in this case 3283) to the specified IP address and port (10.1.0.2:3283) on the other side of the SSH connection.
Once the SSH connection is open you can then tell ARD to connect to localhost. This will try to connect to 3283 on the local machine which should get tunneled across the ssh connection to the specified machine on the other side.
To change which machine you're connecting to, simply disconnect the ssh session and re-establish using another internal IP address.
I haven't tried this myself with ARD, but I do use SSH Tunneling a lot and it usually works.
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