How many backups do you want for each server?
If they each are using less than half their disks, currently, back them up to each other.
S1 -> S2
S2 -> S3
S3 -> S4
S4 -> S5
S5 -> S6
S6 -> S7
S7 -> S1
Use rsync on a cron job, if you are OK with only having a single backup of each server.
If you want to get more sophisticated, and you have more disk space, you can have multiple backups of each server, so that if something gets trashed, then backed up to the remote server, you don't lose your good copy.