Mikrotik to Cisco RV340 series VPN

New to Mikrotik so if this is already addressed elsewhere (I tried to look), please point me in the right direction.

With Cisco not offering small business routers at the current time, our shop purchased from RB2011 Routerboard devices to serve instead.

I can configure site-to-site between these devices, but I cannot get them to open a VPN to existing Cisco RV 32x/34x devices.

Is there a certain set of protocols/policies I need to configure correctly? I know the Cisco are limited but I am hoping for IKEv2 with a preshared key for the moment, speaking Group 5 (1536 bit)), 3DES, MD5 on both phases. I believe the 345s can speak at Group 14, but I just need to get a general grasp on what I should be doing on the Mikrotik end to get communication flowing.

Thanks in advance for any guidance.