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I have fixed this issue. I have to explicitly let udp 51820 on the other side into my firewall

Thansk for your replay.

This is my wireguard config on my PC below. I hope all traffic will flow through this tunnel when I connect to the VPN.
[Interface]
PrivateKey = xxxxxxxxx
Address = 10.8.0.2/24
DNS = 1.1.1.1

[Peer]
PublicKey = xxxxxxxxxxxxx
PresharedKey = xxxxxxxxxx
AllowedIPs = 0.0.0.0/0, ::/0
Endpoint = "vps ip address":51820
PersistentKeepalive = 25

I have tried to configure firewall rules and nat, but none of them seem to work, can you point out what is wrong in these?(Please refer to the attachments).

Thanks!

This is my first time using opnsense and everything is working very well, but when I try to connect to the VPN using the wireguard client on my PC, the VPN is connected but there is no network, how do I set up the firewall or routing rules to make it work?

My LAN segment is 10.10.10.1/24, the VPN segment is 10.8.0.1/24.

Best Regards.