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 : The public IP address of the second router is :

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 :

The LAN in the second site :

Thank you