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This wouldn't be exactly standard practice in the security circles, but I guess you could make the two systems share the same hosts keys. Don't know if that would work, but you could give it a shot.
On my Debian system these host keys are found in /etc/ssh/ssh_host_* files. Four files total, two for dsa (pub and priv), two for rsa (pub and priv). Pick one system as the master, and copy it's keys over to the other system. Be sure and backup the original keys before overwriting in case you decide this is not a good thing to do and want to restore back to original conditions.
I have the exact same problem because I am routinely accessing two different machines on the same LAN behind a router for a client of mine.
The only solution I have found is to use two different user IDs on my machine to access them. Typically I am using my ordinary user name to access one machine (on Port 21) and I am using my root user to access the other machine (on Port 22). Sometimes, depending on what I am doing, I ssh into one machine then ssh from that machine to the other machine to avoid using my root ID, but on those occasions where I have to directly access each machine, that is how I do it.
To make this clear, I have blocked root logins on those machines; I am not logging onto the remote machine as root. On my system, I am opening a shell, su to root, then logging into the remote machine like this: ssh -Y -f user@server xterm.
Since I have two different userIDs in use on my machine, I avoid the rsa problem.