The agent logs on the target server show:
Description: The XML configuration file has no information describing how to collect the inventory for data class=<various guids>
Description: None of client, server, software scan NSEs were created
Description: Inventory has failed, so discarding the inventory gathered till now
Description: Inventory Agent has finished gathering inventory with few errors. Please refer to the logs for details
SMP7 SP2 HF1
Altiris Inventory Solution 7.0.1085
Altiris Inventory Pack for Servers 7.0.1026
The Server Inventory Plug-in for Windows was not installed on the target servers.
Navigate to Settings > Agents/Plug-ins > All Agents/Plug-ins > Discovery and Inventory.
Enable the Server Inventory Plug-in for Windows Install policy and apply it to your servers.
After the changes are saved you can test by going to one of the server clients and updating it's configuration.
Then try to run the Collect Full Server Inventory task on that server.
It should succeed.
Then on the other servers you can either update their configuration manually or wait until their next update cycle.