I have a case open with Support. They had me install SRM 5.0.2 because they said 5.0.1 has a bug where SRM can't accept the SHA server cert from the vCenter Server. There were log lines in the VR in /var/log/vmware/hbrsrv.log that led them to believe this was the case.
I removed my vSphere Replication Management Servers (from both sites) and my vSphere Replication Servers as well, installed SRM 5.0.2 on the SRM servers and started setting vSphere Replicaton all up again.
I got all the way to step #5 in the Getting Started screen for vSphere Replication- this is the step where you register the VR servers with the VRMSs- the registration worked at our Recovery Site but still fails at our Protected Site.
We're still working with VMware on the case.