RB951G cpu not reachable through vlan

Hello,
I am new on this forum, new with routerOs, and not very fluent in English, so first of all, excuse my poor language… :confused:

I am trying to set up a configuration where vlan is needed to reach Internet with a French fiber provider.
But I also need to reach equipments connected to the switch to extend my Lan,

I found the problem reported by Jeroen1000 in following topic :http://forum.mikrotik.com/t/vlan-via-switch-chip-how-do-i-reach-the-router/45763/1 : I can’t reach cpu through a tagged vlan, so I can’t either manage the switch, or setup a bridge with wlan interface !

In this topic, Willy said :
“This problem related you could not set vlan-header and vlan mode on cpu port. This is a known problem. You can’t reach tagged port on ROS from untagged port from switch”.

Is it still true?
Is it an harware limitation or a router os linitation (v6)?

Thanks for your rplies…