I too am experiencing this same issue.
I have a network of 70 win2k clients, 1 win2k server SP4 PDC, 1 win2k server SP4 BDC.
We recently had about 5 XP computers added to the network and every single one is timing out its connections to the servers after about 20-30 minutes. This is obviously a flaw in XP, or some kind of extra security feature not noted.
I was able to find one setting in the group policy's on each system that was an autodisconnect for idle server connections, but even after setting those to not time-out, the systems still have issues.
I hope this helps in finding a solution to this issue.