It is worth running packer-tracer on the ASA inside interface (on the ZD side) to the NPS ip. You can verify if all the phases are permitted (eg: UN-NAT, ACLs, NAT, IP-OPTIONS, and FLOW-CREATION), and the final message should be "ALLOW". I had seen issue without inspection map configured so running the packet-tracer can isolate the issue not on the ASA config, then you can focus on the endpoints (ie: ZD and NPS).
--tony