My Printer, Switch, etc. don't have a firewall.
I thought using wireguard is the same as being in LAN.
You can realize this though by an outbound NAT for the Wireguard subnet, natting the source IP to the OPNsense LAN IP (masquerading).Maybe this is desired, in case, you don't want to state a gateway on dumb devices, which do not need internet access.
That's somewhat different. The mentioned NAT rule is needed to access the internet across the tunnel. It's added to WAN.I was talking about an outbound NAT rule on the LAN, meant as a workaround if local devices doesn't have a default gateway set.This would translate the VPN clients IP to the LAN IP. So the destination device has to reply to the LAN IP, which is within its subnet, hence it wouldn't need a gateway. This also circumvents firewall restrictions of outside access on the devices.