It seems to be possible. Definitely when you point the primary server to the SEPM, this setting is pushed to the secondary servers (unless they're not inheriting). As well, I uninstalled my Reporting Server after I found the other v.10 server's reporting agent was already pointing to the SEPM and not the v.10 Reporting Server.
So long as the servers have Reporting Agents installed, they should be collecting data from their respective clients. I don't see why they couldn't forward this to the SEPM. The link provided above doesn't specify whether the servers have to be a Reporting Server, specifically.
SEPM seems to be getting the correct information uploaded to it after I uninstalled the Reporting Server. I'll leave it overnight and check in the AM to be sure uploading is happening properly.