Resolution:
Yes, you can have a REST Service and a SOAP ServiceAgent in an application module using the same HTTP Connection (i.e. running on the same HTTP port). This is because the Endpoint URI for the REST Service and the SOAP Service agent will be different. Please find attached a test project that demonstrates this.

Multiple HTTP Event Sources (i.e. REST Service, SOAP Service Agent, HTTP Receiver) in an application module can use the same HTTP Connector resource as long as the Endpoint URI for all of them are different. By default, BW constructs an Endpoint URI for the SOAP EventSource and REST resource. However, for HTTP Receivers using the same HTTP Connector, unique EndPoint URIs must be configured using a unique combination of "Context Path" and "Path Spec" for each HTTP Receivers in the application, so that they can share the same HTTP Connector resource. The attached test project also demonstrates this configuration.

Now each HTTPReceivers can be invoked with a distinct URL in format: http://hostname:port/contextPath/pathSpec

In the case of the attached sample, the URLs for the two HTTP Receivers will be:

http://<host>:9876/httpreceiver/1
http://<host>:9876/httpreceiver/2

Please find attached the testcase and the screenshots.

Is it possible to have a REST Service and a SOAP ServiceAgent in an application module using the same HTTP Connector resource (i.e both using the same HTTP port)?