according to CISCO
For UDP flows, the ASA tracks source and destination IP addresses and ports and the idle time since the last packet of the flow was seen by the ASA. For certain applications (such as DNS), the ASA also tracks request identifiers, to help it defend against packet-spoofing attacks. A UDP flow is created in the connection table if the ASA security policy permits it. Because UDP flows have no state machine, UDP flows are deleted only when they are idle for longer than the configurable UDP idle timer
when this relating to asymmetric routing, there is many things to consider. asymmetric related TCP as below.
https://community.cisco.com/t5/security-knowledge-base/asa-asymmetric-routing-troubleshooting-and-mitigation/ta-p/3117045
its good to configure zone based policies if asymmetric is expectable,
https://www.cisco.com/c/en/us/td/docs/security/asa/asa97/configuration/general/asa-97-general-config/interface-zones.html
another good thread about UDP session handling is at
https://community.cisco.com/t5/network-security/how-does-a-firewall-track-udp/td-p/2354302
Please rate this and mark as solution/answer, if this resolved your issue
Good luck
KB