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Routing specific subnet through a local peer (to share VPN)

I have two (almost identical) Ubuntu machines with the local IP of 10.0.0.10 and 10.0.0.20, let’s call them TEN and TWENTY respectively. Both have the default gateway of 10.0.0.1.

On TEN I have a site-to-site VPN setup (using StrongSwan) with a remote site (over which I have no control), which allows me to access the remote subnet 172.16.16.16/30 .

From my local machine at home, I simply use SSH port forwarding whenever I need to reach the remote subnet. But, I am wondering if it’s possible to configure both machines so that, from TWENTY, requests to 172.16.16.16/30 (the remote subnet) are routed through 10.0.0.10, and the response traffic is forwarded to TWENTY accordingly. I want all other traffic to use the default gateway.

Thanks