Thanks. It shouldn't be scary. You already have five computers connected. What is the difference between one and fourteen? Just a greater amount of chances for a screw-up. But, you already have that anyway with P2P.
You already have it implemented. You would simply connect to the domain using System Properties and Change. Connecting a computer to the domain shouldn't tax it that much. How much RAM do you have on the AC server now? If everything were connected to the domain, you could use any computer to run AC. As far as CALs, it depends on how many users. Obviously if you added 14 computers, then you would have to buy CALS, which would be cost prohibitive. But, if you had only five users, you could go with user licenses. You probably are already using the licenses you have as client licenses.
Why do they say the bridge would work better if it were on the domain? But, simply connecting that one computer is likely fine.
By the way, the really good IT people will tell you they won't work on P2P. Too difficult. Why isn't AC on the server?
But, you are probably correct. No need to make a ton of changes.