Thanks Mozhi,
Remote desktop is great for PDA's and iPad's, but it can be a little sluggish, so I would recommend only using RDP if it's necessary because you want to use ThinClients or you can't install SambaPOS onto the terminal (winCE os).
As long as all printers are shared, and you configure them in SambaPOS using their shared name (ie \\parcel-pc\parcel-printer) then there should be no issues. You may need separate print jobs for some terminals to make sure they print where you want them to. It is as easy as cloning a print job and selecting a different printer, then add that new print job to the terminal(s) that needs it.
The Ethernet printer shouldn't be an issue, but if it is for some reason, map it to the server and re-share (ie \\server\kitchen-ptr).
Always setup each login to the server using the full version of SambaPOS making sure you set the terminal name and print jobs associated with that terminals role. Once working the way you want, then login and run the terminal app and test.
Always start simple, so do the restaurant setup first as it's the most common and the sample database already has this scenario configured, just set the printers in the print jobs. Once that's working the way you want, then add the parcel printer and terminal and create the printer templates and print jobs for it.
For best performance use MS SQL Express 2005/2008. Compact SQL does have limitations with multiple terminals running.
Hope this helps. If you need more specific setups, please ask.