Cisco VPN :: RV042 Tunnel Inactivity Disconnect

I have VPN Gateway to Gateway VPN tunnels set from my central office to four remote sites. The tunnels have always been problematic. Started out with five Linksys RV042 v2 devices these had problems with handshake, sometimes would disconnect during this process and had to click disconnect button on either device and this wouold force the tunnel to rebuild. Recently upgrade central device to a Cisco RV042 v3 device. Good news is that this seems to have corrected the handshake issue but now each of the remote sites are having problems during periods of inactivity losing tunnel. The staff at the remote site indicate that they have to close out application and restart router to rebuild the tunnel.

All tunnels are Gateway to Gateway static IP addresses. They all will connect and behave as expected until they reach a certian period of inactivity. I have searched all over Cisco, Linksys, and Google have seen problems similar but no consistant or logical solutions so I thought since I am slowly upgrading my network from my initial equipment which was truely purchased based on cost alone to adding more Cisco equipment. However since this is among the first of my upgrade moves and the improved equipment is creating more problems than my older less expensive equipment I needed a solution to the problem before submitting additional PO's to upgrade switches and firewall products.