@Derelict:
Should get you going OK. Note that this connection will be routed so broadcast discovery will not work.
Two errors in the video. The WAN rule on prirouter only needs to be UDP 1194, not TCP/UDP and the WAN rule on secrouter is unnecessary and can be eliminated completely.
Thank you for your help. Actually broadcast is exactly what I want the most. Furthermore, I followed https://forum.pfsense.org/index.php?topic=46984.0 and it seemed to be covering what I am looking for, but how can I use it as point to point (pfsense to pfsense), rather than pfsense directly to the client PC?