Create pass any protocol any source any destination rules at all interfaces except WAN first (firewall>rules). Then enable DHCP Server for the additional interfaces (services>dhcp, opt1 and opt2 tab). Set your Router as DNS-Server at system>general unless it already is assigned via DHCP and uncheck "override by DHCP" if needed. Then create portforwards at WAN (firewall>NAT, portforward) for all needed services to the servers in the different subnets. Make sure autocreate rule is checked (it's checked by dfault). You might want to check "Register DHCP leases in DNS forwarder" at services>dns forwarder too.
Last but not least add portforwards to your router in front of the pfSense to hit the WAN IP of the pfSense for your different services. This is a double NAT setup and therefor doesn't need any routes. If you rather want to route you have to setup advanced outbound NAT too and some routes. Also the portforward part would be different. However the described setup makes it easy to drop the router in front of the pfSense later and place the pfSense at the real WAN if this is what you want to do later.