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RV042 and Microsoft TMG site-to-site VPN

Has anyone successfully configured a VPN site-to-site tunnel between an RV0xx and Microsoft TMG?

Are there any walkthroughs or docs out there that provide instructions?

Scenario: 

Remote office (2 users) with RV042

RV042 currently set in Gateway mode, simple config allowing local traffic to internet via NAT.

- want to connect VPN tunnel to corp office for local resource access, while still allowing internet bound traffic to go straight out local pipe.

lan ip range: 74.16.16.0 mask 255.255.255.0

unique ext ip: 209.190.x.y

Corp office running Microsoft TMG.

local ip range: 192.168.0.0  mask: 255.255.0.0

unique ext ip: 74.142.x.y

Do I have to switch the RV042 to router mode instead of gateway mode?

Have tried multiple times with Phase I and Phase II combinations

After building the tunnel on the RV042 do I need to manually create the routes and access rules, or shough the device create them for me?

-it does not appear that they are built automatically.

Any advice and guidance is appreciated.

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