Ok so first off, i am quite new to this forem and the concept of a Mac OS and Windows on the same HD.
I have installed Windows XP and Kalyway 10.5.2 on my HD and they both work.
BUT
In order for me to boot into MAC, i need to go into my BIOS and set my SATA HD (my only HD) to AHCI, but if i leave it like that, Windows XP will not load (it will get to the logo and restart my computer.
I am all for searching for answers, but i am not quite sure what to search, so some guidance would be nice.
Thank you!

Yep- WIn XP didnt have AHCI drivers installed normally , only Vista + Win7.
You must switch back (once) to AHCI IDE Mode and install the right AHCI ICHx drivers for your Win XP.

You will get them from Intel.

Google AHCI Win XP and you will find some how to / dl links .

After installing that driver, you can set back to AHCI native in BIOS and XP should also work again.

I went to go download Intel Matrix Storage Manager, but it gives me a 'You do not meet system requirements' on ALL of their downloads.
Any ideas?
I have a Intel Core 2 Duo E7200 processor.

A common problem!!.
put that .exe into an folder c:\temp (or other easy folder on xp to access)
in XP Meue go to start > Run > type "c:\temp\iataXX_cd.exe -a -a" ENTER (sure, replace iataXX_cd.exe with real name of .exe)
Now the later needed files are extracted in c:\applications\Intel\Matrix...\Driver\ (i dont now exact if named appilcations, i am on german)
You need that folder later.

Her it is an how to (but german) perhaps you find an similar.
But lots of pic step by step - you will understand.
Its for an EP-35-DS3, ICH9 (0x2923) - in the text there is one step to replace 2921 > 2923 - perhaps you dont need that if your ICH9 isnt 2923

Pictured how to install AHCI on XP
http://62.109.81.232/cgi-bin/sbb/sbb.cgi?&...2&start=0#1

In Short:
A. perpare that Intel Matrix for install (run that "c:\temp\iataXX_cd.exe -a -a" , see above)
B. copy iaStor.sys from that folder of extraced iata... into windows\system32\drivers\ (use subfolder drivers, not system32!)
1. if needed (depends on your ICHx PCI dev-id see above) - file edited : iaAHCI.inf
edit + replace 2921 > 2923 , safe that file
2. you need http://www.jzelectronic.de/jz2/Download2/ICH9-AHCI.exe
That registry the AHCI by click on it
3. reboot
4. at reboot setup BIOS back to AHCI native , save - reboot
5. Xp see now (if you used that reg clicking) new device and the install window opens
Use now manual install and give the folder where you have all of the ahci files (perhaps with th edited one too)
so set the manual install folder to that folder with all that extracted (perhaps also edited .inf) - install ...
6. reboot