Routing behing an Unifi USG router

Hello

Managed to finally install Zerotier on a Unifi USG router.
The router is now part of our Zerotier network, and I wish I could access everything that’s behind the router (printers, servers…)

LAN IP for the USG is on 192.168.50.1 (network 192.168.50.x)
And it’s Zerotier address 10.147.17.150 (network 10.147.17.x)

To reach the 192.168.50.x network, do I need to create routing at the router level? Or at Zerotier level?
Do you have a simple steps on how to to it at Zerotier level?

Thanks !