I've start a new discussion here to make it up to date with forefront and UAG 2010 http://communities.vmware.com/message/2190661#2190661
For the moment the support link me to the same KB i linked http://kb.vmware.com/selfservice/microsites/search.do?language=en_US&cmd=displayKC&externalId=1025861 but they didn't confirm that is compatible with view 5.1.
I'll keep the new post update.
regards,