IPSEC VPN local traffic issue

[Elcush7]

Hello all.

Getting straight to the point, i have an IPSEC VPN connection between an OPNsense firewall and a CISCO router. The gateway configuration is as normal using both public IP, but then the issue comes in when am setting up the local traffic between both endpoint. From the OPNsense side, i configured the remote LAN subnet as normal using their private IP from the CISCO end, but then from the CISCO side, i have being asked to use a public address to come into the OPNsense network instead of a private address.

so basically, the configuration looks like this

OPNSENSE side
WAN IP: 66.33.22.11
Remote gateway: 50.20.11.12

Local subnet: 66.33.22.11
Remote Subnet: 172.168.10.10


CISCO side
WAN IP: 50.20.11.12
Remote gateway: 66.33.22.11

Local Subnet: 172.168.10.10
Remote subnet: 66.33.22.11


Please is this setup possible, can i configure a NAT like setting on the OPNsense side to translate the public IP into the private IP for the CISCO side to be able to reach the OPNsense internal network.