Hmmmmm…I've never done this before.The MP is connected via Ethernet to the Broadband Router on Ethernet 1.
So I would connect the G5 via Ethernet 2.
Try this. On the G5, assign it a static IP address that your router has NOT assigned to any other device (again assuming you are using a 192.168.0.x subnet). If your subnet is different, say 10.0.0.x, then use that with the appropriate subnet mask. Set the router as your router's actual address.
See if you can connect via Screen Sharing from the MP.
Note, I've never done this so I have no idea if it will work. If it doesn't, there's one more thing to try.