That will be a basic policy-based IPsec VPN with IKEv1 which is supported on both platforms. Here is a guide for the RV-side:
https://www.cisco.com/c/en/us/support/docs/smb/routers/cisco-rv-series-small-business-routers/smb493...
Just replace the crypto with what is supported on Meraki MX like AES 128, SHA1, DH5
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