I am in a similar situation, I have 5 servers participating in load-balancing in our corporate office and 7 remote locations that use the servers. Any ICA client in the corp location can see a published application list just fine, but the remote sites don't return any published apps unless I put servers in the client's address list. I tried placing a MF server w/ no licenses in one of my remote locations just to act as an ICA browser (recommended by Citrix) but this didn't work.
I asked this same question and the answer I got was that I had to put manual entries in the address list for each client, which works fine. Like you, I don't want to have to touch each client machine, it was suggested that I create a custom client config and deploy it on each machine. Check out thread48-529448 in this group.