Hi,
You need to use both dst-nat and src-nat rule on router A.
If you use /ip firewall raw to bypass connection tracking for that IPsec tunnel, then this will not work as connection tracking is required for NAT to work properly. If you use /ip firewall raw for the IPsec tunnel, you must move to /ip firewall filter instead so that connection tracking works. This will reduce performance very slightly depending on RouterBOARD model, I did not notice much performance loss with my hAP ac^2. Unless someone else knows another way, I had to do this on my setup.
First, create a src-nat rule. The reason you need this src-nat rule is because you need to replace the source address of the packets coming in from WAN side on router A with router A's IP address, otherwise your server will try to send a reply straight back to the client that is connecting and the client will drop that connection because it expects a reply back from router A's WAN address. (packet must come from client to router A, then go through IPsec to server behind router B, then server must respond back through IPsec tunnel to router A, then router A responds to client).
/ip firewall nat add action=src-nat chain=srcnat dst-port=443 protocol=tcp to-addresses=192.168.0.1
Breakdown:
action=src-nat (replace source address with another source address)
dst-port=443 (match port 443, replace if you forwarding a different port)
protocol=tcp (match tcp protocol, replace if forwarding another protocol)
to-addresses=192.168.0.1 (the packet source address is replaced with 192.168.0.1 so it looks like it is coming from router A)
After that, create a dst-nat rule. The dst-nat rule is configured exactly the same as any other dst-nat port-forwarding rule, except just specify the server internal IP from router B subnet (192.168.66.x) in the rule on router A as if it was just a normal device on the network.
/ip firewall nat add action=dst-nat chain=dstnat dst-port=443 protocol=tcp to-addresses=192.168.66.x
You must create both of these NAT rules (src-nat and dst-nat) for every port that you want to forward.
Hopefully this helps you!