Yep, that should work, as long as it's a one-to-one mapping and you point the peer to the NAT address (or the address that each uses to see each other).
Just don't use an AH transform cause that doesn't work thru a NAT device cause it checks the entire packet, including the source/dest IP address, and if this changes in between the two then it'll fail.
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...