There are several problems with the self-signed cert being used to "secure" the admin gui with HTTPS.
1. It's a version 1 certificate - no extensions, means the cert can be used for *anything*.
Solution: Should be a proper V3 cert, end-entity, limited to TLS/SSL Server purposes.
2. It's generated and issued to the IP address of the router. The CN is the raw IP address.
Solution: Should be a proper SAN cert, with router.asus.com as the CN an router.asus.com and the IP address as SAN entries. Note that IP addresses use a different SAN entry record type than DNS hostnames.
3. It's sefl-signed. The certificate should be properly issued by a public CA, preferably Let's Encrypt which is free.
Solution: Let's Encrypt only issues DV (Domain Validated) certificates, meaning the host MUST be exposed to the internet to validate control over the hostname (domain) in the certificate.
#3 is the real problem, and the "right" way to solve it is for Asus to step up, or anyone really, and offer "real" certificates for internal, non-routable local LAN IP address spaces (bogons). The trick/magic is that whomever runs that service must run a custom DNS resolver for their domain and expose public hostnames that resolve to private IP addresses. More specifically, the IP address of your router.
The only people that have managed to do this (and correctly, btw) is the fine folks over at Plex. They used DigiCert, and the Plex Media Server uses the DigiCert APIs to request and retrieve your server's certificate. The domain they are issued to is one controlled by Plex, and the "hostname" is a combination of your account ID (a hash) and the internal IP address. The same could be done with Let's Encrypt and a willing partner hosting a domain and a custom DNS. The likely candidates are the DDNS service providers and/or possibly Asus itself, to do so for their routers. There isn't anything stopping Merlin for doing so or anyone else. The trick is the account ID plus the ip address embedded into the hostname combined with the custom DNS resolver to "decode" the hostname and return the "correct" internal IP address for your router (or whatever device you need a certificate for).
There is probably a way to use an existing Plex installation to obtain additional certificates, say, for your router.... but that likely isn't what the Plex people had in mind when they paid DigiCert to issue certificates for Plex Media Server installations.
If anyone wants to discuss/consult offline on this, please contact me by PM.