Yes you can so long as you have the static configured for the RDC server. Please note that with version 7.0, if you have a routable IP address for the RDC server, you can turn off NAT with the "no nat-control" command which will not require you to configure static for the RDC. Bottom line is your RDC client needs to be able to reach to the RDC server. Based on what you are saying, it appears that you have private IP address of the RDC server, hence you would require static and an ACL applied on the outside interface to allow the traffic to the RDC server.
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...