Hello Hedhyeh,
This is a routing issue, this is known as a stateful tcp firewall issue.
The problem is that the firewall is receiving a ack packet on the inside interface of a connection where he has not received a SYN packet, so of course he will drop it!
You have two options:
1- check why the routing issue is happening, get into the real root of the issue
2- the easyest way to solve it, configured a tcp state bypass policie to tell the ASA: Do not drop a tcp packet if the tcp 3 way handshake is not used.
Hope this helps.
Julio
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Julio Carvajal
Senior Network Security and Core Specialist
CCIE #42930, 2xCCNP, JNCIP-SEC