Yes, I could change the gateways on the Cisco and ASA boxes to specify the L3 upstream switch and do the routing I need on it - but I was hoping it could be accomplished like on the Cisco ASA's by adding an extra route. It also means using 2 public IP's for the router interfaces on the upstream switch.
I sounds like what you are tryng to do is make the pfsense do something outwith it's control.
in essence the pfsense box is just chucking stuff out it's WAN port. once done the switch is the key and should switch the data to the cisco's. if you want the pfsense box to do this then you need to make it route the traffic via another interface to the ciscos directly and setup static routes there.
what you are doing here is telling the PF box to route all traffic via it's wan interface to the switch. then wondering why the switch isn't routing.
with the static route will get the traffic to the switch, which is what would happens anyway then the switch is sending the traffic to the wan ans not the cisco.