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I think that you can do that, but it needs some packet manipulation with IPtables. First of all both ZS servers should be aware of the private IP addresses, you can do that easily with RIPv2. Secondly you open a shell and for the incoming packets on ZS1 destined to PUBLIC_IP_1 you do a DNAT to change the destination to the desired one. In case Device1 or 2 have ZS2 as default gateway it would be neat to also change the source IP address of the packet upon arriving on ETH00 or ETH01 of ZS1 with a SNAT.