Hello,
Then if you want to set up a VPN like acting as a bridge network then you can do it by OpenVPN Tapped-Bridge mode. You will be in the same subnet for this and you can reach everything like you are on a local basis. If this is not what you want to implement it would be best to draw and sketch a network diagram that you want to implement for us to guide you properly.
I hope it helps.
Regards,
Mellow