First of all I want to clarify that I am a complete noob in computer networks, so I apologize in advance if I am using incorrect terms or saying nonesense. Having said that, I'll try to explain my question as clear as possible. Let's say I have two Linux servers (ubuntu), Server A and Server B connected as shown in the figure:
Both servers have 3 network interfaces each with the IP addresses listed in the image, both servers have two networks that are common to each other:
172.16.0.0/24
10.20.0.0/24
Server B has an application with an endpoint in the following network
192.168.0.1/24
which Server B can reach but server A cannot. The application has the following endpoint
http://192.168.0.1:35357
Is there a way to reach the application endpoint from Server A so I can do a curl with a POST to the endpoint from Server A and gets to the application in Server B? Maybe through iptables or something like that? I also want to be able to get the response from the application in Server A.