It looks to me like server1.conf is your site-to-site and server2.conf is your remote access.
It also looks like your diagram should have 172.16.9.0/24 as your remote access network. Is that true?
If all that is the case, you have routes from pfSense for:
route 192.168.2.0 255.255.255.0
route 172.16.4.0 255.255.255.0
…in both configs. Those routes should only be in your site-to-site.
If you want your remote access clients to access all LANs at all sites, you need to push them routes for everything, meaning 172.16.1.0/24, 172.16.2.0/24, 172.16.4.0/24, 192.168.2.0/24.
And you need to push routes to all foreign networks to each site. For instance, Satellite office 2 needs to be pushed routes for the following:
172.16.1.0/24
172.16.2.0/24
172.16.4.0/24
172.16.9.0/24
(Note you could just push a route to 172.16.0.0/16 instead. Or even /20 in that particular case.)