Question : Problem: VPN HELL with RV042 in front of LAN and XP PRO Client

So things look like this:

SmallBusinessServer2003 - Linux Box (has APP that needs to TELNET'd to) - 6 PCs - 5 HPjet Direct Printservers
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Office network 192.168.1.0 subnet 255.255.255.0 (ALL MACHINES/DEVICES above have static IPs)
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Linksys (RV042) dynamic DNS resolution for wan's dynamic ip
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Internet
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(Typical Remote User Setup) Cable router (WRT54G) with dynamic ip and dynamic DNS resolution
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(ALL REMOTE USERS) Windows XP Pro SP2 with XP Firewall Enabled

Goal:  Allow up to 5 remote users to connect to Office network simultaneously and perform functions as if at the office
          ie.  Print to Printers at the office, logon to local domain, access shared files/folders on server,
                telnet (over the VPN) to Linux Box, map drives

Ultimately... I'd like the remote users to click an icon/short cut and login with a user/pass and authenticate to the Server to regulate access to shares on server.

I am embarrassed to say it but, "I am completely lost..." a step by step howto would be greatly appreciated.

Answer : Problem: VPN HELL with RV042 in front of LAN and XP PRO Client

Joe,
I couldn't duplicate the "Negotiating IP Security." I had no problem at all running from behind 3 different makes of routers.

I personally haven't, but I have read about others who have had some some problems with the MTU size. They claim it can cause sporadic disconnects or in some cases no connection at all. If you might want to try a smaller MTU. Here is a link to how to adjust and 'tweak' for optimum MTU size if you want to experiment.
http://www.dslreports.com/faq/7752

Also found this link which is a complete walk through on how to configure the Quick VPN client. Perhaps there will be something in there we are missing.
http://www.linksysinfo.org/modules.php?name=Forums&file=viewtopic&t=5173