|If you positively need that server to show up in Network folder of your workstations you will have to make sure that SSDP Discovery, UPnP and Function Discovery Resource Publication services are manual and running. |
Then turn on Network discovery and File and printer sharing for your network location under Advanced sharing settings in Network and Sharing Center.
This way your server will be discoverable by other machines (though I'm not sure about XPs if they are on different domain/workgroup, but you should get rid of them anyways :)
Simpler way would be just to map whichever server shares you need onto your workstations, via Group Policy or manually.