Destination nat is equivalent to loadbalancing to one server.
I would therefore configure a vip being the inbound destination address, and a rserver which would be the outbound nated destination ip address.
Then create a policy-map to link the 2 together and apply the policy-map to the incoming vlan, or you can apply it globally.
For the reverse connections, where you then need to nat the source ip back to the 'VIP' you use the static nat config that you have found in the document.
By the way, I don't see anything wrong with it.
Those commands are in A1 and also the new A2 release.
ACE is really a loadbalancer with some firewall features and not the opposite.
This is why pure nating functions are not straightfoward to configure.
Gilles.