This can be done with Cisco routers, because they support route-based VPNs, and also Cisco publishes the order of operations of the packet (first check acls, then routing, then crypto, etc, etc) so you know how to avoid problems if multiple simulatenous features are conflicting each other (the most classic example NAT and crypto)
Sadly Cisco doesn't publish the order of operations of packets in ASA. Maybe if we knew the order of operations we could have done a workaround with the configuration.
Also Cisco ASA doesn't support route-based vpns
For those reasons I say you can't do this with ASA.
Please rate if this helps.