Sadly, your options are either IKEv1 or consolidating your IP networks into one supernet.
It's a shame that these two Cisco solutions can only communicate with the help of deprecated technology. At least in regard of extranet VPN functionality, the MX would be the kid that gets regularly scrapped on the schoolyard ...
If you found this post helpful, please give it Kudos. If my answer solves your problem, please click Accept as Solution so others can benefit from it.