I have made further progress today. I finally got things to connect after I switch my testing from a Z3 and MX67 to a MX67 and MX65. The Z3 was NOT happy with the VPN to the MX67 for who knows why. Either there was something wrong with the hardware or the auto vpn was getting seriously screwed up.
Yea, I was hoping for layer 2 bridging, but I'd be OK with a single static entry.
Here is what I have working so far:
-Company A configured as hub using 192.168.10.0/24 for vlan and injecting into VPN
-Company B configured as single arm spoke, has 192.168.1.70 from 192.168.1.0/24 range
-Company A can ping Company B 192.168.1.70 over VPN
-Company B can ping Company A VLAN IP 192.168.10.1
-Company A devices can ping Company B 192.168.1.70
As soon as I get Company B to enter a static route for 192.168.10.0/24 via 192.168.1.70 I think that will get things to work! *fingers crossed*