hi
in situation where you have overlapping networks i thinks the best way to go is to use nat in both directions, i mean
ip nat inside source list XX pool out-pool
ip nat outside source list XX pool in-pool
where XX is an access-list that allows the common addressing space in both networks :
access-list xxx permit ip 172.16.10.0 0.0.0.255 (if the common addressing space is 172.16.10.0/24)
out-pool is a pool for your outbound traffic going to the other network
in-pool another pool for your inbound traffic , that coming from the other network towards your netwok.
HTH
Please do rate if it does help