Zero tier to physical network and Vlans

I created zero tier router to phisical network and follow this scenario and work great fo rone subnet.

However i can’t access other vlans besides the main network the router is on.

So my first question is it possible to route trafic from a zero tier client via router to different Vlans and can it be controlled with one same router.
Zero tier network A: via Router1 Debian on LAN - Vlan20
Zero tier network B via Router1 Debian on LAN - Vlan40
Router1 = ZT.A & ZT.B
Client A access ZT.A
Client B Access ZT.B
Or any other way to allow access to diferent Vlans from The same ZT Network with some level of control on to which vlan can Clients Access.

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