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I found some discussions about Linksys/VPN/Cisco router here and just
want to report back my case.

I have a Linksys WRV54G at home connecting to the Internet via aDSL
with dynamic IP address. It connects just fine using IPSec VPN to the
Cisco 2811/AdvanceIP/K9 in my office.

I did upgrade the firmware, but I made that upgrade many weeks before I
tried the first VPN connection to my Cisco router so I am not sure if
the upgrade is a requirement for the successful connection.

DT