Discovery for a single device in a different subnet

Hello all,

Pretty new to RouterOS and I need some help setting this up. I have set up WireGuard for VPN access on 192.168.100.0/24. All my network devices are on 192.168.10.0/24. I am able to access the internet via clients on WireGuard and I can access the devices on the network just fine using their IP addresses. The issue I am having is I have one device that I need access to that only works with discovery. I can’t specify an IP address in the software for access. I have it assigned to a static IP at 192.168.10.71.
I have tried several forwarding rules to get the discovery to work and I have looked all over the forums but I am not finding quite what I need so I hope someone can help. Ideally any device on WireGuard would be able to access the device via discovery. I would also be ok with a solution that allows discovery of any device on 192.168.10.0 by the WIreGuard devices but this seems to require an external solution/server possibly?

Thank you.