NAT VIP how to with diagram

[jacktorreswho]

Hello Gentlemen, Really appreciate some guidance here. I'm using pfsence community edition and i have no idea how to port forward or nat a Public IP to VIP .
Basically,  I have 2 servers with local ip ( 172.16.1.19 and 172.16.1.19 /24) with pfsense as gateway 172.16.1.1. At the same time both servers have a secondary ip (10.6.1.54 and 10.6.1.50) on same nic tagged to VIP in pfsense (10.6.1.75) . These are application ip and successfully receives the packet from both servers when i connect to 10.6.1.75.

The challenge is how to NAT or portforward 10.6.1.75 on the PFsense Public IP.  I had tried the natting but to no avail. I have attached a network diagram for reference.

Hoping for some subject matter expert opinion .
Thanks!