My situation is a near exact duplicate of the guy on recent post #3107277 except that we want to use an RV042 on our end. Is that possible on an RV042? I got a succesful VPN connection but cannot ping a known host on their end, presumably because the one-to-one NAT is not intended for this purpose. Thanks to Daniel for the diagram below which I modified slightly.
They want us to Nat my 192.168.200.51 host to 10.10.12.25
192.168.200.51 <---> RV042 <-- Internet --> (unknown Cisco router)<-- 192.168.10.0
My VPN is from 10.10.12.25/32 to 192.168.10.0/24