Options for tunneling to ASA from Dynamic address

Does anyone have experience tunneling from a RB450G or RB433 with a dynamic address to a Cisco ASA with a static address. I have had good luck running IPSEC tunnels with static addresses on both sides. I do need to bridge the LANs so traffic can originate from either end and traverse the tunnel. I am able to make this happen all day with Mikrotik to Mikrotik, I just can not find a solution for Mikrotik to Cisco ASA.

My requirement is that the tunnel is encrypted, the remote site will have a RB450G or RB433 with a dynamic on a NATed LAN, will connect to Cisco ASA, and once the tunnel is established, traffic can originate from either side.

Problems I have run into so far:
ASA will not accept IPSEC peer from unknown address
ASA does not support PPTP
I have had no success with L2TP/IPSEC (may be possible though)
I looked at running OpenWRT with VPNC as a Metarouter, however, I could not find info on how to bridge the LANs with Cisco network extension mode in VPNC

Any idea would be greatly appreciated. Is there any suggestions to a company that can develop something for this purpose?

Thanks for any advice!