I always do it in this order:
BIOS
ESM
PERC firmware
PERC Windows drivers (rarely)
Open Manage utilities
Not sure if it's the best way but has always worked for me.
Something that might be of interest is I've just come back from the MS ITforum conference and Dell has been working with MS to integrate with SMS 2003. They're about to release extensions for SMS that basically allow you to update all the components above via SMS 2003 (with a single reboot), personally I can't wait for this but I guess you need an SMS infrastructure already in place before it's justifiable.
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