Some additional info:
The 831 to 2651 works fine when both are connected directly to the Internet. When connected directly to the Internet, the payload traffic is passed and is fragmented and re-assembled over ESP. However, when the 831 is connected to a Linksys WRT54G, ESP traffic does not traverse through the linksys. After timing out on the ESP traffic, the routers try to utilize NAT-T (Non-isakmp, UDP port 4500) to pass the payload traffic. This also works, unless the MTU is greater than 1410 bytes. I did and extedned ping from the 831 with the destination the tunnel's IP address of the 2651, while debugging ICMP's on the 831 and 2651. The 2651 responded:
time exceeded (reassembly) sent to 831 IP address.
Thanks,
Todd