It's going to be plenty fast, unless you have a very, very large number of concurrent clients hitting those servers. The XML shredding keeps getting faster in both Java and .NET. If you are on CLR2 and Java 5 or above, you will be fine. But of course you still need to do the tests to verify.
We've tested in our lab, REST and SOAP transactions, and they are faster than you might think. Tens of thousands of messages per second. Small numbers of modern CPUs generating XML messages can easily saturate a gigabit network. In other words, the network is the bottleneck (transmission of data), not the CPU (serializing & de-serializing XML).
AND, If you do your software design properly, in the very unlikely situation where REST is not sufficient, then swapping out the message format layer (REST => protobufs) will get you better transmission perf, with minimal disruption.
But before you need to go there, you will be able to send some money to Cisco and get lots more headroom.