Hello

I will link you to an existing answer which breaks down the process nicely:

https://www.odoo.com/en_US/forum/help-1/question/domain-notation-using-multiple-and-nested-and-2170

Essentially, you want to solve the order by abstracting the search logic and then re-adding your details afterwards.

I think (I have not tested) your search would break down to:

AND AND OR A B OR C D OR E F

Once I substitute your values back in, you would be left with:

'&', '&', '|', (saleorders ID in m2m), (all ID), '|', (customers ID in m2m), (all ID), '|', (salespersons in m2m), (all ID)

Again, I'm not certain that logic will work, but you should be able to come close with the process described in the link above.

Good luck!