Don't believe who say that it's easy to expose a Domain Services using SOAP endpoints. Expose a RIA Domain Service to other clients, glad to the very infrastructure of RIA Services, it's not painless. First of all, it needs some changes to the web.config, that's not a problem at all.
You will get the very painful steps just when try to connect to your domain services. The RIA endpoints are automatically generated by the service itself, so, you have no way to control them (some workarounds exists but I feel like they can create problems in future releases of RIA Services, or even in different configurations, because they're hack on IIS URL registration).