For Verizon ADSL, we usually use the Westell 6110F modems. They actually work correctly with Cisco products we deploy, such as the UC520 and 871, but this modem should work with other Cisco products. This modem should work with the WRV210.
For AT&T ADSL, a Netopia 3347 router is typically used, with the ADSL circuit connected to it. We often receive a block of public IP's from AT&T for AT&T circuits, and we enter in the correct static IP addresses in the Netopia ADSL router, and we also have NAT turned off on the Netopia 3347 router.