If you go into phone programming and set the ICP, TFTP, and ICA (I think) to the local IP of the 5000, no question it would work.
As for without changing the settings in the phone (Plug and Play wherever you are), it doesn't sound like it would work. Either the ISP is stopping it or your firewall is. Who is your ISP by the way?
Another solution might be to take a phone that is already onsite, and have it set to ring with your IP phone. Do you always work remotely or does the customer?