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Setup router to router VPN connecting 2 windows domain networks via 2 RV042 routers

I am using 2 RV042 routers.  I have created a point to point VPN with Remote Security Group Type= Subnet, using the default IPSec settings. 

Under advanced settings-  Aggressive Mode, Keep Alive enabled.

Location A- SBS 2011 standard, Servername=SBSServer, Domainname = Smallbusiness.Local, IP address 10.1.10.50

DHCP range 10.1.10.100 to 10.1.10.175.  DNS and Print services. No WINS.  

Location B- Server 2008 R2, Sername=SBSServer, Domain name=Smallbusiness.Local, IP address 192.168.10.50

DHCP range 192.168.10.100 to 192.168.10.175,  DNS, Print Services and Remote Desktop Services.  No WINS

I am wondering 2 things.  Can I setup the VPN tunnel to route traffice between the 2 networks without changing the server names.  Leaving the servernames the same.  I have it setup that way but also had netbios broadcast enable.  If I disable netbios broadcast will that be enough for these networks to be independent of each other.  I was hoping not to have to rename the domain and there are advantages to having the same user and domain name when mapping drives between networks.  I have not needed to authenticate those drives or provide credititals for printing either. 

2) Should I change the domain name so that each network has a unique domain name or, if I change the servername of the 2008 R2 server will that essentially solve my network issues, the primary issue being that location b has clients that occasionally can not find the 2008 R2 domain controller.  After a restart the usually resolve to the correct domain controller.

Essentially what I am asking is what are the best practices to connect 2 separate Windows domain networks via a VPN and have those networks capable of file sharing to the each others domain server and printing to the network printers at both loations.

Should I have separate domain names-

Should I have separate server and computer names-

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