Swami, if you can post a diagram Im positive you'll get more responces, Im not sure I understand your topology as you have two firewalls. You indicate you have cyberguard between LAN and ASA, cyberguard firewall outside IP 192.168.34.3 and inside of 192.168.33.3, and your asa inside is in the same network as your cyber outside interface 192.168.34.0. It seems from your description the cyberguard is your vpn gateway and this is where you RA connection is stablished through cyberguard is this correct?
Lets put RA VPN aside for a minute.
1-From within the cyberguar firewall can you reach 192.168.1.210 or any host under that subnet by pings. If you cannot you will
need a route at cyberguard to get to 192.168.1.0 network.
In the event that this is not the case and that you can ping from cyberguard hosts in the 192.168.1.0 network in your LAN
from cyberguard successfully I would recommend to look into how enabling NAT traversal (aka NAT-T ), I suspect one of these may be your problem.
Rgds
Jorge
Jorge Rodriguez