You may simply need to use
rpm -i --force kernel-devel-FOOBAR
for each FOOBAR. Note though that rhel/rpms sometimes have unintentional conflicts that prohibit concurrent installation; see e.g. https://bugzilla.redhat.com/show_bug.cgi?id=901635 .
You might find it useful to install a small number of VMs on the local network, each running a different kernel version/arch to cover your desired targets, and activate avahi and the systemtap compile-server ("stap-server"). Then, after a little more one-time setup,
stap --use-server --remote=FOOBAR --remote=OTHERFOOBAR -e 'script'
should work automagically. See
man stap-server