Hello Rodrigo Soares,
Thanks for posting your question in the Microsoft Q&A forum.
Azure routes traffic based on the Effective Routing Table, which combines system routes and User Defined Routes.
Add a UDR to the Windows Server’s subnet( Destination: 172.16.100.0/24 , Next Hop Type: Virtual appliance , Next Hop IP: 172.16.2.4)
Ensure the ASAv’s management NIC (Nic0) allows UDP/500 and UDP/4500 for VPN traffic, and the inside NIC (Nic3) permits traffic to 10.0.0.0/24
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