So I am clear.. You have some IOT device
192.168.0.X
And he tries to talk to 192.168.0.5, which you want to send that to 172.168.0.200, but make the source 10.254.0.5..
For starters you would have to have a 192.168.0.5 vip on pfsense. And then to translate it to 10.254.0.5 you would need another vip..
edit: ok did a simple test of this.. I create a port forward on my lan interface, you could create a vip for your IP.. That said hey if you go to 192.168.9.253 on port 5353 send it to 172.16.200.2
portfoward.png
I then created an outbound nat that said hey if your sending to 172.16.200.2 - use the vip IP 192.168.100.2 (I already had this for talking to my modem)..
outbound.png
I then generated simple dns query on port 5353, easiest way to just generate some traffic to specific port on specific IP..
Sniffing on wan, since that is where it would go trying to get to some unknown IP on my network.. But with yours you would have a vpn to send it down, etc.
So you can see the traffic was sent to 172.16.200.2 from my 192.168.100.2 address..
12:58:32.127354 IP 192.168.100.2.16046 > 172.16.200.2.5353: UDP, length 49
12:58:37.139187 IP 192.168.100.2.16046 > 172.16.200.2.5353: UDP, length 49
12:58:42.150230 IP 192.168.100.2.16046 > 172.16.200.2.5353: UDP, length 49
So yes I would think what your wanting to do is possible just in the gui - but you would have to create different vips for both your inside 192.168.0.x addresses and your 10.200 addresses