indy suggests you chat online with a engineer, which is a good idea.
Since you have both RV042 communicating on a MPLS network. and there is no need for the routers to anything but route then I am wondering if the RV042 are in gateway mode (the default) or router mode ?
Router mode will disable the NAT and firewall (i believe) and just allow IP routing between the two networks. I think this is the better mode for just routing between networks. Allow the ASA to perform the NATting and firewall.
A default route at the far end router and a static route pointing to the remote router . I have no idea of the gateway adresses or RV042 WAN addresses, so my screen capture below of the HQ router looks a but exaggerated. The HQ router also needs a default route that point to the ASA5505 as the next hop. But your question lacks a topology diagram that better explains your setup.
I have shown a screen capture using old software on the RV042 that shows the section you may have to adjust.
At least it's something to think about and try, before you chat with a technician
I would go in router mode which takes out all the routing table, then do static routes for the lan and setup a default route to the default gateway which should be on the mpls network. You might have to do a default route from there to continue the path to allow internet connectivity through the other end of the mpls circuit.
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