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Proxmox: Routing traffic between VPN and guest network

I have a Proxmox setup on an internal corporate network that hosts multiple VMs. Users connect to the network via a VPN connection that allows access to a gateway machine running Windows and from there they can SSH into the respective VM. The setup is as follows:

  1. VPN IP address is in the range (IP address that is assigned to VPN clients): 10.81.234.10/24
  2. Gateway Windows host IP address (Gateway/Bastion host): 192.168.2.0/24
  3. Proxmox Node address: 192.168.1.250
  4. Proxmox guest IP range: 192.168.1.0/24

When a user connects to the VPN, a static IP route is added to Gateway host as follows:

/sbin/ip route add 192.168.2.0/24 via 10.81.234.5

On the Bastion/Gateway node, traceroute shows the route to reach 192.168.1.10 (one of the guest VMs:

Tracing route to 192.168.1.10 over a maximum of 30 hops

  1    <1 ms    <1 ms    <1 ms  192.168.2.253
  2    15 ms    14 ms    12 ms  192.168.1.253

What I would like to do is somehow reach the guests VMs directly from the user’s machine over the VPN i.e. route traffic from 10.81.234.0/24 network to 192.168.1.0/24 network. The idea is to allow users to SSH directly from their laptops to guest VMs.

Is this possible by just changing routing configuration?

Thanks in advance!