I haven't used it, but you'll want to setup a VPN on the router. Looks like it supports OpenVPN and Tinc.
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I don't know if that will be necessary if this is all the same network. I saw a couple posts mentioning VPNs and reverse proxies but they were all for accessing the network remotely.
Kind of similar but I thought VLANs might work as well but all I could really find online was people separating branches their network using them.
I appreciate the comment though.
Well you don't want to disable DHCP on the WAN. That's how it gets it's address most likely.
The VPN creates a bridged network between the client and the internal network. VLANs don't do that.
If you want to make the internal server behind the router accessible to you securely when you're out in the world, you want a VPN. That's what it's for.
This should just work without any alterations though.
But don't disable DHCP for wan, that's probably not it. That's needed for connectivity