If all you want is for your users to get connected to their internal workstations then you can enable the TS gateway feature, that works great and I have setup and configured a few but you wont get the same nice web portal you get with RWW and SBS2008. SBS2008 uses this very same feature to get the users connected via the RWW portal.
Here is a step by step guide for configuring TS Gateway on Windows Server 2008:
http://technet.microsoft.com/en-us/library/cc771530(WS.10).aspxFinally, I hate to beat on a dead horse but I really think you should reconsider using SBS2008. If the only reason why you are not going down this path is because of your objections for using Hyper-V on the box then IMO you need to rethink that reasoning.