If I may add my 2 cents, you want ANY on the 192.168.0.* to access ANY on the 192.168.10.* Then, may I ask what’s the reason for the firewall? The left side of ipfire is RED, the right is GREEN. ipfire is designed green => red but not the opposite (which is achieved with port forwarding).
May I suggest you move ipfire further left so that RED connects to Internet and GREEN gives access to all your systems. You can configure ipfire as a red/green (just 2 nics). You can connect an AP to the switch so that it provides wifi to the 192.168.10.* network. Just a thought …