NAT to a remote network over IPSEC

Hello,
I’ve two routerboards connected through IPSec.

Router 1:
Public IP: X.X.X.X
LAN: 10.0.0.0/24

Router 2:
LAN: 10.5.0.0/24

All the traffic between LAN and other subnets work properly. However when I try to make the following config, it doesn’t work.

NAT (dst-nat)
Router 1 WAN → Router 2 LAN

The idea is to make a DST-NAT rule in ROUTER 1 but the destination host is an ip of ROUTER 2

Any ideas?

Thanks,

Juan