The only SIP I've done was to a Quick Conference server so obviously well documented and easy. Tuesday I'm going to try to do SIP trunks to an Exchange server for Unified Messaging. Should be fun, the Mitel docs are good at showing how to set up the Mitel side, but seem to lack sorely on the Exchange side of this setup...
We will see....
More directly to your questions, I know there are vendors with what I think of as SIP translator type boxes - in theory to may X SIP talk to Y SIP easily. Haven't played with it though....
-Chak