You can download the latest firmware at
http://www.cisco.com/c/en/us/support/routers/rv082-dual-wan-vpn-router/model.html#~tab-downloads
I see two upgrades from 2.0.2.01tm, which are 4.2.3.03 and 4.1.1.01, but both upgrades require version 3 hardware.
Hope this helps,
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Thanks.