On Mikrotik, the PREROUTING and POSTROUTING chains in table nat have been renamed to dstnat and srcnat, respectively. So using the Mikrotik syntax, your iptables commands look as follows: /ip firewall nat add chain=dstnat in-interface=lan protocol=tcp dst-port=8001 action=dst-nat to-addresses=1.2.3.4 to-ports=8080
/ip firewall filter add chain=forward dst-address=1.2.3.4 dst-port=8080 connection-state=new,established,related action=accept
However, since both the dst-nat rule and the accept rule match on just destination address and port, you can simplify the filter rule: /ip firewall filter add chain=forward connection-nat-state=dstnat action=accept
But it is strange, that I can see an established connection only from 192.168.1.10 to 192.168.1.1:8001 but not the TCP connection to the target 1.2.3.4:8080. Update: Ok, but the log of the firewall filter shows the correct source-destination IP addresses.