This is only partially accurate. Residential connections have terms of service that state you are not allowed to run a server (and they require you to pay for a business class connection to do so). If they catch you, they can cut your internet access, terminate your account, charge overage fees,
etc. Even if they do catch you, they probably won't care or say a word as long as you're not using enough bandwidth to cause issues with their network or impact other customers. However, they
will notice if you clog up their network. That's when the pain starts.
Technically speaking, the statement that "most ISP's filter and block any server traffic" is false. ISP's let you run servers all the time -- how many multiplayer PC games require that one of the players "host" the game? I've always run an externally facing SSH server to allow me remote access to my network when outside the house. I've also had not problems setting up VPN servers on my residential connections over the years. Setting up a relay server (local mail server on home network forwarding all mail to an intermediate server) is not uncommon among people first learning how to set up and manage email servers for the sake of curiosity. However, email servers are finicky beasts that must be appeased on a regular basis with prayers to the gods, blood sacrifices, and ritual incantations (I only half jest). This is another reason why I warn that there will be pain.
What most ISPs actually do is block access to certain ports and/or restrict access to certain ports. As an example, ISP's often put in blanket restrictions for port 25. Specifically they usually block all incoming port 25 traffic and restrict outgoing port 25 traffic to a specific set of ip addresses (
e.
g. the ISP's own email servers, email servers owned by vetted hosting providers,
etc.). This blanket ban on port 25 has two effects: (1) it significantly decreases botnet spam generated by infected computers and (2) it provides an easy way to convince users to upgrade to business class offerings. However, setting up your email server on a non-standard port will get around this blanket ban. It won't be able to communicate with the rest of the world, just the relay server on machine A. But that may be enough for your purposes.