Web SSO not working for a specific server combination

I have unique situation where SSO works with all the servers except for a specific combination.

We have the following setup:

Server A Version 6.03 Administration Server

Server B Version 6.03

Server C Version 6.0

Server D Version 6.0

I login initially to server D then servers C,B and A do not prompt for authentication again.

Same is the case with all the other servers except Server A.

If I login initially to Server A then Server C and Server D do not prompt for authentication but Server B prompts for a Login and Password with the following message:

“Your session with the server has expired or is invalid. The current operation was not executed.”

I am using SSO with the Web Configuration view.

Thanks in advance.