You can use srcnat on VPN router, to hide everything coming from 192.168.2.0/24 to 192.168.1.0/24 behind common 192.168.1.240. Because 192.168.1.240 is local address for any other 192.168.1.x, they will know where to send responses. And VPN router will know that they belong to connections from remote networks and will route them back correctly. While this helps, it's also the one disadvantage, devices in 192.168.1.0/24 won't be able to see real source addresses, so they won't be able to tell 192.168.2.10 from 192.168.2.20 and it can be a problem when you'd want some IP based access rules. But you can't have everything.
Thanks, everything would be nice, but not for this purpose
So I added the following and I can access Another Device now:
add action=src-nat chain=srcnat src-address=192.168.2.0/24 to-addresses=192.168.1.240