the problem isn't an asa/security problem -- its a routing problem.
since your 'voip' device doesn't have a default gateway -- it has no knowledge of the other networks -- and doesn't know who to send traffic to in the result of an external network. you're on the right road to nat -- but you've put the nat in a nat0 statement (nat exempt). you'll need to define a nat pool to dynamically nat your inside net to a 10.10.200.0/24 ip address -- which will allow standard 'arp' constructs to provide reachability via layer-2.
regards, q. -- "...if I in my north room dance naked, grotesquely before my mirror waving my shirt round my head and singing softly to myself..."