Routing over vpn problems

I have this configuration. 2 internet access routers. router 1 -192.168.0.1 router 2 - 192.168.0.10

1 wireguard server with ip 192.168.0.100 gateway 192.168.0.1

To connect to wireguard from the internet, I can only open ports on router 2 and I connect to wireguard well but I can't ping any computer on the network. if I change the server gateway to router 2, I can connect to wireguard and ping and connect to the computers on the network

It is necessary that the server uses router 1.

can I configure something in the wireguard server so that the connection works after vpn?

I can't change anything on router 1

thanks

If you cannot open ports on router 1, ("I can't change anything on router 1", you said) then you can't do what you want. Unless you have open ports on router 1, incoming connections hitting router 1 will simply be dropped. VPN won't help there unless router1 is set to forward VPN to somewhere inside your network, in which case you could presumably forward what you're interested in from the VPN to the Wireguard.