You will need to do a static one to one from the inside host to the outside and from the dmz host to the outside or you could use port-forwarding ( only for inbound connections)
Regarding the ACLs you only need one access-group so on the same ACL create the statements to access both servers (inside and dmz) from the outside.Remember you can only have one access-group per direction on each interface.
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Table of ContentsIntroductionVersion HistoryPossible Future
UpdatesDocuments PurposeNAT Operation in ASA 8.3+ SectionsRule Types
Network Object NATTwice NAT / Manual NATRule Types used per SectionNAT
Types used with Twice NAT / Manual NAT and Network Obje...
Table of Contents Introduction:This document describes details on how
NAT-T works. Background: ESP encrypts all critical information,
encapsulating the entire inner TCP/UDP datagram within an ESP header.
ESP is an IP protocol in the same sense that TCP an...