In cases when there is a subnet conflict on both sides with a VPN, both sides must perform NAT+IPsec, but this is different since it's the LAN on one side and WAN on the other. Unless S1 needs to talk to S3A you only need NAT on the S1 side.
You don't need to setup port forwards and other things, just on that particular IPsec Phase 2 you need to setup a NAT subnet.
S1 would NAT its 192.168.10.0/24 to, say, 10.10.1.0/24. On S1 in the IPsec Phase 2 settings for the tunnel to S3, just put that in the NAT/BINAT option.
To reach 192.168.10.1 at S1, a client at S3 would instead contact 10.10.1.1 for example.
Unless there is some other quirk I'm forgetting with the WAN side at S3 that should be OK