This is a common implementation and described in numerous articles - it is often referred to as "hairpinning" or "U-Turn" as the traffic from RA VPN comes in via outside interface and then back out same interface to the peer site.
Three things are generally required:
1. the appropriate access-list entries (referenced by the crypto map associated with the tunnel)
2. NAT exemption for the RA subnet traffic headed to the peer site
3. permitting traffic via same-security-interface.
(You'll generally get better visibility for this sort of question on the VPN forum. You can recategorize your original post via the widget in the top right.)