two way dstnat or port forwarding on a lan 2 lan

Im setting up two port forwards between 2 lans as the following:

machine A - 192.168.128.182
|
vpn A endpoint - 192.168.128.189 (gw to reach 192.168.0.0)
vpn A endpoint - 192.168.0.110 (gw to reach 192.168.128.0)
|
mikrotik ether5 192.168.0.112
mikrotik ether1 10.27.0.242
|
vpn B endpoint - 10.27.0.241 (gw to reach 10.10.10.120)
vpn B endpoint - xxx.xxx.xxx.xxx (gw to reach 10.27.0.242)
|
machine B - 10.10.10.120

both vpns wont route packets to networks other than those on their endpoints so i have to do nat on the mikrotik.

i had a machine in place of the mikrotik that was using rinetd to forward packets like this:

192.168.0.112:5000 → 10.10.10.120:5000
10.27.0.242:3000 → 192.168.128.182:3000

so, wher machine A connected to 192.168.0.112:5000 machine B would answer and
when machine b connected to 10.27.0.242:3000 machine A would answer.

how can I do that with the mikrotik? dstnat on both interfaces? how?

so far I only have the basic routes in place:

#      DST-ADDRESS        PREF-SRC        GATEWAY            DISTANCE
 0   S  10.10.10.0/24                      10.27.0.241        1       
 1 ADC  10.27.0.240/30     10.27.0.242     ether1             0       
 2 ADC  192.168.0.0/24     192.168.0.112   ether5             0       
 3 A S  192.168.128.0/24                   192.168.0.110      1