@VincentEmmanuel
The outbound NAT should not be required here. All traffic will be controlled by routes if pfSense is the default gateway in both networks.
With the static route, when the DMZ server sends a packet to 172.16.1.3, it is routed to pfSense, since that's the default gateway. pfSense forwards it to the CATO due to the static route and the CATO forward it to the destination host, since it knows the route to it (however, your graphic is missing 172.16.1.3, so I don't know, how this is set up).
Presupposed the CATO is the default gateway on 172.16.1.3, the response packet will be routed to it, and there it is forwarded to pfSense, since this is the default gateway on the CATO, as you said. pfSense has an existing state for the packet and will forward it to the DMZ server.