But I am looking from ORacle SOA 10g ESB perspective as some transformation and routing is applied. I do have other options but currently looking for solution where 1 SOA 10g ESB service can work with both version of weblogic
Yes, WebLogic 10.1.3.6 can interoperate with 9.2. SAF agents are "Store and Forward" agents, so they'd need to run in the source cluster. If you need to get messages from a remote destinations into a local SAF "imported destinations", or just a plain-old destination, then perhaps the best option would be to deploy a simple MDB on the 10.3.6 cluster (some layered products can setup such an MDB for you).
I'm not familiar with ESB, but assume that it already provides tooling for pulling messages from remote destinations (I assume a product like ESB is designed to try and more-or-less hide JMS details from the user by providing layered tooling...). You might be able to get help from an ESB newsgroup. If this doesn't help, you may also want to see the JMS interop FAQ: