In addition to the good suggestions from JG I would suggest looking at the failed attempts report on the ACS server. If the authentication attempts are getting to the server then there should be entries in the failed attempts report and the entry should help identify the reason for the failure (common causes in this kind of situation are unknown device (either the router is not defined as a client in ACS or the router is sending the request packet with a source address other than the one configured in ACS) or invalid key, or perhaps unknown user.
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We have configured the outside and inside Interface with official ipv6 adresses, set a default route on outside Interface to our router, we also have definied a rule , which also gets hits, to permit tcp from inside Interface to any6.
In Syslog I also se...