WireGuard: Re-mapping the CIDR of peer’s local network

I have two different networks using the same 192.168.192.0/24 prefix internally that each provides entry via a WireGuard peer available via a ‘bastion’ that has a second NIC accessible from another network, let’s say 10.0.0.2 and 10.0.0.3 respectively.

As things are set up now, I can connect to either network and communicate with the devices attached. However, if I connect to both networks simultaneously, all hell breaks loose.

Is there a way of setting WireGuard up on my local peer such that I can refer to one one of the networks with an alternative prefix¹, while keeping the remote configuration agnostic of this change, allowing me to communicate with both networks concurrently?

¹ For example, remap the prefix for the network accessible via 10.0.0.3 to 192.168.3.0/24, such that 192.168.192.173@10.0.0.3 would be referred to locally as 192.168.3.173