How to open the firewall to allow traffic from parent router?

I have OpenWRT as the router for my ISP internet connection. I have another router for my lab (Router 2 with openwrt). I would like that clients from Router 1 (eg, Client 1,3) can access services under Router 2 (eg Client 2,4 with Homebridge).

I know there's a combination of firewall settings and routing to accomplish it but I'm not able to make it.

Any advice?

Does the upstream router ( support the addition of static routes? This is critical for what you are trying to accomplish.

Assuming it does, you'll set a route for via (in the primary router). Then in the firewall config of the OpenWrt router to allow forwarding from the wan zone to the lan zone, and you'll turn off masquerading on the wan zone.

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