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Google mostly dont have problems with domains hosted in single ip...but its advisable to host in separate ips if possible :)
Google dont have much problems in crawling virtualy hosted sites...But i prefer to have dedicated ip since i want to be 100% sure that my site is crawlable and also for the sake of other SE's ....
This is the same as the case of dynamic url's...Google says it can crawl dynamic url's and ya ,its true say in 95% of the cases...But for me that 5% risk is too big and i always go for static url's :)