Well,
Let me just explain that when XP first came out it was (in some cases still is) incapatible with most (if not all) wireless devices. That's because a major component in the wireless devices comes from one primary manufacturer, and it's that component that was incompatible with XP.
Firmware upgrades are coming out regularly for wireless devices to support XP. The trick is you have to know to go upgrade your equipment. Firmware upgardes are generally always free and generally can be found on the manufactures web page.
You'll most likely want to upgarde all your hardware components, NIC cards (both for the PCs and lapto), and the Access Point.
I don't have a Linksys (I use 3Com), and I use Win2k, but I've heard from others that Linksys does have their firmware upgrade for XP. You'll have to go to their site to check it out.
As for the tech u were talking to, he (or she) sounds clueless. ICS has been standard stuff since Win98SE and later. And the conflict between XP and wireless should have been the first thing that jumped in his (her) mind.
D