The route is correct.
In Router B, make sure the ZT device is in the lan firewall zone: insert the line list device ztxxxxxxxxx with the x's being your device name (which is hashed from the network ID). Intra-zone forwarding is enabled on lan by default, so packets can forward from ZT to the 2.0 LAN.
Then try each of these pings from computer A:
10.147.17.30 (Router B end of the Zerotier tunnel)
192.168.2.1 (Router B's internal IP on the LAN)
192.168.2.94 (Device X)
If it's a routing table problem, the first one will work but the others will not since A doesn't know how to route to the remote LAN. If it's a firewall problem, the first two will work but the third will fail.
Zerotier works almost exactly the same whether the tunnel terminations are road wariors or routers, since it pushes the whole routing table to all of them.
It's also important that wherever you take computer A, its LAN providing the unencrypted connection to the Internet can't be 192.168.2.0. That would cause ambiguity in the routing table. Using an obscure number for the home LAN is common to avoid this.