On this case you may not be able to reach those IP addresses for R1 and R2, because the Remote users reach the interface of outside and if U-turn is nor permitted the packet will be dropped, and if it is permitted they will be NATed dynamically.
You will need to place the following configuration:
- Permit u-turn(A packet that gets to this interface and be routed through the same interface)
same-security permit intra-interface
- NAT exemption on the outside to avoid be dynamically NATed.
If your ASA is pre 8.3:
object network IP_POOL
range 192.168.88.200 192.168.88.250
object-group network OUTSIDE_ROUTERS
network-object host XXXXXXX -> Router 1
network-object host YYYYYYY -> Router 2
access-list NAT_EXEMPT permit ip object IP_POOL object-group OUTSIDE_ROUTERS