If you plan to send logs from more than one Session Manager, you need to add a rule for each IP address.
firewall-cmd --direct --add-rule ipv4 filter INPUT 1 -s 1.2.3.4 -p udp --dport 514 -j ACCEPT
firewall-cmd --direct --permanent --add-rule ipv4 filter INPUT 1 -s 1.2.3.4 -p udp --dport 514 -j ACCEPT