There is a change in what I explained in previous article.
CRM GP Adapter does have a Mapping Facility where in you can select Sales Document Type & Sales Document Type ID, in the Microsoft Dynamics CRM Adapter Mapping Settings.
If there is no settings done here, it works exactly like what I explained earlier. If it finds this setting done, it creates the Sales Order accordingly.
[Thanks to Consultants, Prince & Prashantha, who are working on this Implementation and sharing this knowledge with me].
But still, the ability to create Sales Orders from CRM to GP by dynamically selecting Order Type ID & respective Document Number is still a miss.
More to follow as and when I gain more knowledge.