Connect (synology) NAS with other server over VPN

Is there a way to connect a NAS (in my case a synology NAS) to another NAS or server in another network via VPN?

My idea/ goal would be that if you are in the local network of NAS 1 the drives of the remote server/ NAS 2 feel or look like they are on the local NAS and you don’t have to connect to a VPN every time you start your computer and just connect to the (local) NAS that would then connect to the remote server.

This is probably an edge case but I would be interested if this is possible somehow.