My NX5200 can be heard by the Mototrbo's just fine, through the Mototrbo repeater, and simplex. But it will not "decrypt" the Mototrbo's ARC4 ("Enhanced Encryption") even with the proper KID ("1") in the proper slot (1) I have turned it every which way but loose, and am about to give up, and disable Enc altogether. Interestingly enough, I can sometimes hear the first word or so in the clear, then the "digital hell" comes through for the rest of the transmission. Meanwhile, the XPR's are just as clear as can be.
No RAS, just a single Enh. Enc. code (ARC4) that is entered exactly the same in the Mototrbo's as it is in an NX5200.