Interconnection between two private network geographically separated

I have two network , each of them is secured by pfsense firewall (the pfsense is not a router, it is à compter with 2 network card)

The public IP address of the first router is : 91.78.47.37 The public IP address of the second router is : 218.98.55.54

Is there a way that we can ping from the LAN of the network to the last LAN ?

If so, where can I set that up in pfSense?

Edit :

The LAN in the first site : 10.0.0.0/24

The LAN in the second site : 10.10.0.0/24

Thank you