If you setup the remote access VPN on the ASA to use SSL-VPN (tcp/443 and udp/443) then you could port forward those ports to the ASA and leave udp/500 on the router for IPSec VPN's. HTH

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VPN Ports to Open - social.technet.microsoft.com Nov 27, 2011 Configuring Cisco SSL VPN AnyConnect (WebVPN) on Cisco IOS Introducing Cisco SSL AnyConnect VPN - WebVPN. Cisco SSL AnyConnect VPN is a real trend these …

May 25, 2020

TCP and UDP Ports used for the Cisco VPN Client - NetCraftsmen This is the default method for UDP tunneling with the Cisco VPN client; IPSec over UDP – This method still uses 500/udp for IKE negotiation, but then tunnels IPSec data traffic within a pre-defined UDP port. The default port for this traffic is 10000/udp. Configure AnyConnect Virtual Private Network (VPN - Cisco Feb 24, 2020 Remote Access VPN - Cisco