NAT can help you:
/ip address
add address=192.168.2.1/24 interface=<name> network=192.168.2.0
add address=192.168.23.250/24 interface=<name> network=192.168.23.0
/ip firewall nat
add action=dst-nat chain=dstnat dst-address=192.168.23.250 to-addresses=192.168.2.250
add action=masquerade chain=srcnat dst-address=192.168.2.250
This is close, but it's not going to be enough to get it to work. It will also need arp=proxy-arp on both interfaces, and a static route.
Choose an interface on the Mikrotik for the 2.250 device, let's say ether5. Make sure that ether5 has master port = none (no switch) and that it is not part of any bridge. I'm also going to assume that bridge-local is your LAN interface - whatever interface it is, configure it with arp=proxy-arp, and configure ether5 for arp=proxy-arp as well.
Now, configure the IP address 192.168.2.1/24 on ether5.
At this point, you should be able to ping 2.250 from the router.
Now the trick to get proxy arp working:
/ip route add dst=192.168.23.250/32 gateway=192.168.2.250
/ip firewall nat
Lastly, you'll need NAT so the device and your other LAN hosts won't know that something strange is happening:
add chain=srcnat out-interface=ether5 dst-address=192.168.2.250 action=masquerade
add chain=srcnat out-interface=bridge-local src-address=192.168.2.250 action=masquerade
add chain=dstnat in-interface=bridge-local dst-address=192.168.23.250 action=dst-nat to-address=192.168.2.250
As long as there are no forwarding chain filters standing in the way, this should work.
If you ping 192.168.23.250 from some other device on the LAN, you should see it in the local ARP table with the same MAC address as the default GW.
This will allow you to use the device's IP address explicitly, but any "discovery" protocols won't work because the device is still in a different network and it won't get IP broadcasts.