How to properly combine 2 LANs over VPN (PPTP) with different routers (routers)?

Question

VPN

There are two local networks from one provider (different gateways and address pools)
On the first LAN is tenda ac1200 (ac10u) with a white IP (LAN 192.168.1.0/24) (VPN IP 192.168.20.0/24)
On the second LAN is asus rt- ac53 also with white IP (LAN 192.168.2.0/24) (VPN IP 192.168.10.0/24)
Both routers support PPTP server/client. Stock firmware.

Purpose: Mutual visibility of resources within two local networks, correct routing, with existing equipment.

Problem: when one or another router is connected to another, all traffic from a PC from the local network starts to go through the router, which in this case acts as a VPN server.
At the same time, there are no settings in the VPN on routers like “Use the default gateway of the remote network”.
* Prescription of static routes on routers - was not done.

Question: Is it possible to set up a VPN-client -> VPN-server connection via PPTP in such a way that PCs from the LAN go directly to the Internet, and not through the VPN server, while seeing the PC in the second LAN, without prescribing routing and without bringing up a VPN client on every PC in local networks?