Thank you Yishar and BuckWeet,
We have one router one the 501 side -- used to have static mappings there until I implemented failover for the Frame-relay we currently have at our three locations, including this smaller location (about 25 workstations). For the failover to work we needed something like EIGRP to granularize the route costs, and allow the primary link to be chosen over the failover once it recovered.
Anyway, I hope to keep the failover after tweeking it -- the reliability of the VPN is our main concern. But we may have to put some static maps back there if all else fails, as you suggest.
I've thought about poking holes in the firewall for EIGRP traffic, but have been surprised at how much gets let through without doing this -- H323, Telnet, the works. A VPN truly does seem to bypass normal firewall security, although I don't really understand how. That remote client is really treated as if it's in the office next door -- so much I still don't understand. I'll research the 'neighbor' parameter for EIGRP -- am not familiar with it.
If I get this resolved, I'll let you know. Any further suggestions or comments are certainly welcome. Thanks again.