Log the domains

is there any simple package or way to log all the domains or ip going out from one router. I have a setup where there are 2 routers connected in series. Main router has network of 192.168...... and second router is 10.0.... which is connected to main router via lan cable. Idea was connecting all IOT devices on 10.0 network. Now I am interested to know which are the domains visited from 10.0... etc so that I can block them on main network. or limit data on that.


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