OK, I should have waited a few minutes, but I found a solution, atleast for the Linksys WRV200, I can only assume it works for the WRT54G as well.
Download Camino
http://caminobrowser.org/download/releases/2.0.1
It's an opensource browser, not visually as appealing as Safari, but IT WORKS!
If your configuration changes require the router to reboot or go into the wait state, be patient, Camino recovers very well.
On other compatibilty notes, it's a little sluggish with some Java applets, but seems to handle them well. It works with two banking websites that I tried and Blackboard (an educational online classroom environment) which is normally quite persnickety and "requires" IE7, but doesn't like IE8.