you do not have to format into NTFS for windows xp to see the drive. windows xp fully supports fat32. What you have to do though, is use the Disk Management in windows xp, and make the drive active in order to see it. I also have two hard drives, and i had to use disk management in xp so that it would show the second hard drive. its not that xp doesn't support the file system, it just doesn't show it for security reasons.
go to Control Panel, Administrative Tools, Computer Management, Disk Management, .. select the second hard drive FAT32 partition and right click .. choose Mark Partition as Active
after you do this, and open My Computer, you should be able to see the second hard drive .. you can leave as FAT32, or format the drive into NTFS by right clicking the drive and selecting Format