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Thank you meyergru. I can set it up as a LAN - LAN or even WAN - LAN with NAT or Route Updates, I just need some guidance on how to set it up that way.

I am a complete newbie on network so please pardon my ignorance here.

I installed OPNSense 25.7 and configured the defaults using the wizard. My OPNSense FW is behind my Router so the WAN Address is a private IP e.g. 192.168.2.106.
The gateway is 192.168.2.251 (PiHole for ad blocking). This also runs my OpenVPN (10.10.x.x) for friends to connect at times to my home network.

So the set up is as follows: ISP --> Internal Router (192.168.2.1: Gateway which has Pi Hole and OpenVPN running on the PiHole/OpenVPN) --> OpenSense FW (WAN: 192.168.2.106,  LAN: 192.168.4.1)

The Opensense LAN 1 network built on 192.168.4.x so the LAN IP would be 192.168.4.1 192.168.4.X set with DHCP on so I can get many clients connected to this network
The machines connected to the LAN 1 (192.168.4.x) can connect to the internet (no Issue here)

Issue 1: The machines on Client 1 (192.168.2.x) cannot do remote desktop or ping any machine on LAN (192.168.4.x) network. How do I fix this?
Issue 2: Some of my friends connect via VPN to my network and they get a 10.10.X.X IP and can connect to the 192.168.2.x machines. I want to make sure that they can RDP to the 192.168.4.X machines

I don't understand NAT or Port Forwarding etc. so any steps would need to be completely watered down. I have tried steps mentioned here https://forum.opnsense.org/index.php?topic=16952.0 but it did not work for me unfortunately.

Any guidance would be highly appreciated