RDG - XML. Configuration settings

Hello Folks, (For the sake of the purpose I reduce the actual code in the XML just to enough for the core of the script to run)

I have this ServersList.csv. 
In which I intend to replace the properties (displayName, Name) within the this Servers.rdg file. which basically is a XML file:

<?xml version="1.0" encoding="utf-8"?>
<RDCMan programVersion="2.7" schemaVersion="3">
  <file>
    <credentialsProfiles />
    <properties>
      <expanded>True</expanded>
      <name>NorthServers</name>
    </properties>
    <group>
      <server>
        <properties>
          <displayName>VirtualPC</displayName>
          <name>10.10.10.15</name>
        </properties>
      </server>
      <server>
        <properties>
          <displayName>VirtualMachine</displayName>
          <name>10.20.90.7</name>
        </properties>
      </server>
    </group>
  </file>
  <connected />
  <favorites />
  <recentlyUsed />
</RDCMan>

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I have attempted todo so like by creating this PowerShell Script:

$vms = Import-Csv -LiteralPath "C:\Temp\ServersList.csv"
[xml]$Template  = Get-Content -Path 'C:\Temp\ServersQ.rdg'
$servers = $Template.RDCMan.file.group.server.properties 

$Template.RDCMan.file.group.server.properties = $vms

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Which throws me an error: "The property 'properties' cannot be found on this object. Verify that the property exists and can be set."

is this not the way to manage an XML file, do I need something like a 2D array? what is the best practice ?

Any Advise?


Thanks for looking
Ivan Rosa