Sonicwall VPN question

Here is my situation, we have two SonicWall’s (a TZ-170 and TZ-210) and would like to be able to use the TZ-170 for
site-to-site VPNs and the TZ-210 for LAN on the same ISP. We do have multiple WAN IPs available if needed.

Is it possible that these SonicWall’s can be connected so people connected through the TZ-170 (site-to-site VPN) can access a server on the other SonicWall TZ-210 (LAN)?

Thank you!