Help with access between subnets

[80sricky]

Hi, I have a situation where I need to access devices connected under different subnet.

Pfsense - subnet 1 (192.168.1.xxx) and subnet 2 (192.168.2.xxx) (each has their own DHCP server)

But there is a device connected to subnet 1 that I need subnet 2 devices to be able to access.  The device on subnet 1 has static IP 192.168.1.10

Subnet 1 is based on LAN interface and subnet 2 is based on VLAN tag on the same NIC as the LAN interface.  I tried to tag the device connected to the switch with VLAN ID but not managing to make it work.

How can I do that on pfsense?

Thanks