Can't create Static Route to Wireguard peer subnet
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Turns out I forgot to check "Enable" on the Wireguard interface from this section https://docs.netgate.com/pfsense/en/latest/recipes/wireguard-s2s.html#assign-interface
Once it was enabled I didn't get that error when creating the static route. Now my LAN behind the pfSense can ping both the Wireguard subnet and the peer subnet. I can't ping the subnet behind pfSense from the peer yet however. Hopefully will figure that out soon.
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Turns out I had missed yet another piece of the tutorial. It asked to set interface group membership to only unassigned tunnels and then says to apply the firewall rule to the individual interfaces not the WireGuard interface group. I had set them to not be in the group but then still set my allow all rule on the group and not the individual interface! Once I fixed that error everything seems to be talking as it should. Hopefully my stupidity helps someone else googling the same problem years from now.