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I have a setup with a tplink router as my main router and an opnsense router for my homelab, I'm still learning opnsense and I don't want to break the whole network with my tinkering.

In the tplink router I have a static route set to the opnsense router which works without issue.

The issue is that OPNSense automatically creates routes which cause a routing loop. E.g. There is a machine on a VLAN downstream of the opnsense router, however opnsense keeps making a route for that specific IP which routers back to the tplink router.

Can I stop opnsense from making this particular route?

I'm trying to implement an OPNSense router into my homelab, A for testing and B to eventually replace my ISP router.
B is easier said than done so for now I have my OPNSense behind my ISP router

ISP Router A - 192.168.1.0/24
         |-------------------------Other devices
OPNSense Router B - 10.20.10.0/24
         |
       PC

Router B is set up so outbound NAT is completely disabled and I have a static route set from router A to router B to forward all 10.20.10.0/24 traffic to router B WAN. For testing purposes all interfaces have an any/any pass rule just to rule this out for now.

However with outbound NAT disabled I can access the internet but not devices on the Router A LAN from the Router B LAN. I can ping the devices, but cannot access any dashboards through http. Enabling full auto outbound NAT solves this. What have I missed or not understood?