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Cannot reach Gateway when VLAN in on LAN on Sophos XG

Hi everyone,

I know the question may not be clear but here it is. 

I have managed to get connectivity between the branch and HQ. I can ping and access devices on both sides.

The issue is, when VLAN551, which is the data vlan, is on WAN, the cisco router does not have access to internet.

When I set VLAN551 to LAN,  the cisco router can reach 8.8.8.8 but I cannot telnet into the router anymore. Heck, I can't even reach the vlan gateway 192.168.124.2

Question: is there a way for me to have both internet on the Cisco router and be able to telnet into it?

Additional data: When I configure "nat outside" on the g0/0 interface, then the branch can no longer ping HQ.

Your assistance will be highly appreciated.

Fig. 1 - Network map

Fig.2 - VLAN ports



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