access local devices through VPN

RouterOS Beginner Basics
1

I know this may not be basic,

How do I make my VPN so I can talk to devices on site B without doing anything?

Devices at site B must not be able to talk to site A

and any recommendation for the type of VPN protocol SSTP, OpenVPN, etc


Site A home 10.34.1.0/24 hap AC2

site B remote location 10.4.1.0/24 hap ac lite

2

EOIP with static routes on both sites