Sure. We have established already that your drive is a BDR-206. Therefore any BDR-206 firmware would be perfectly compatible with your drive. When I say "any BDR-206 firmware", that should be read as BDR-206 and/or BDR-206D, since both of these models share the same hardware. BDR-206D are basically BDR-206 drives with some features disabled in firmware but sharing the same hardware as the main BDR-206 model. BDR-206M drives use a completely different chipset, so their firmwares are not suitable for BDR-206/BDR-206D drives.
Regarding crossflashing, in order to crossflash a Pioneer drive what you need is a kernel firmware - any kernel firmware compatible with your model will do (i.e. a kernel firmware of any other model which shares exactly the same hardware as your drive). So basically the kernel you need is not the kernel of the source model (ID71 in your case) but the kernel of the destination model you want to crossflash to (such as the BDR-206 GENERAL kernel firmware I mentioned before).
True, the ID71 kernel is not available, but what that really means is that you won't be able to crossflash back to the ASUS model once you've crossflashed your drive to another model, and nothing more than that.
In conclusion, based on what I said above, the best choice for a crossflash in your case would be the BDR-206 GENERAL kernel firmware (http://www.firmwarehq.com/Pioneer/BDR-206/files.html, which happens to be one of the most common BDR-206 models). That would give you a fully featured drive, and once crossflashed you would be able to update your drive with any new firmware updates PIONEER might release in the future.
DVRFlash 2.7.7 doesn't support BDR-206 drives, and that is the one and only missing ingredient to allow you to crossflash your drive to a BDR-206 ... might be worth putting a request to add BDR-206 support in the DVRFlash thread: http://forum.rpc1.org/viewtopic.php?f=2&t=43845. You never know ...