Hi Ronald, thank you for using our forum, my name is Luis I am part of the Small business Support community. I think the reason why you are not able to reach the local network from your client is because you are using the same subnet for both sides. So, basically the Router is searching this IP address to the local and it is not crossing the VPN tunnel, in this case I advise you to change the subnet from one of your sides.
For your 2nd question, you are able to upgrade the firmware remotely and your device going to keep the configuration so, you can access to them without any problem, your device will save your configuration.
Article ID:5728 Configure a Teleworker VPN Client on the RV34x Series
Router Objective The Teleworker VPN Client feature minimizes the
configuration requirements at remote locations by allowing the device to
work as a Cisco VPN hardware client. When the T...
Article ID:5708 Configure the LAN and DHCP Settings on the RV34x Series
Router Objective A Local Area Network (LAN) is a network limited to an
area such as a home or small business that is used to interconnect
devices. LAN settings can be configured to li...
Article ID:541 Firmware Upgrade on RV016, RV042, RV042G, and RV082 VPN
Routers Objective To upgrade the firmware, a specific file must be
downloaded from the Internet and uploaded to the device. Firmware
upgrades can fix software bugs, improve features, a...