Assuming that a clustered firewall with independent configurations is not possible or desired, I would set up a low-power host to act as a secondary, redundant firewall (but without live traffic).
NOTE: I didn't call this a backdoor or recommend setting up one. A backdoor to a firewall screams danger. A better way to ask this question would be, what's a safe, fallback plan to access a firewall in an event of a misconfiguration.
On that host, I would:
- Connect it to the internet and internal network (or DMZ network), making sure it does NOT go through the main firewall
- If you have secondary modems with static IP's, then you can use that internet connection instead
- It MUST be configured as secure as (or even more secure than) your main firewall. For example:
- Use a updated, hardened Linux distribution
- Have only one listening service: SSH
- Accept only SSH keypair authentication on a non-root user (sudo if you must later)
- Limit what networks can access that host (say if your office has a static subnet)
- You can even get fancy and obfuscate the host even more with things like non-standard port number for SSH or port knocking (probably overkill though, and obfuscation is NOT security)
Once logged in via SSH, you should be able to SSH or SSH tunnel to wherever you need within your internal network.
This is still not 100% fool proof because there are a few rare cases this will fail. For example, if your ISP messes up their own network configuration (unless you have a secondary modem/ISP).