I finally got it!! Staring me in the face the whole time! Forgetting the arrays portion, because I still can't figure that out with multiple servos and messages.
My problem was that in the void receive 'if' conditions, I needed to specify from which child ID - right, we knew that part - but I ALSO needed to add the child ID conditional statement to ALL the 'else if' statements!
Thanks to everyone for their help!!