I have two routers, one for internet another one for intranet.

Is it possible to connect a LAN cable between router 1 and router 2 to have both internet and intranet access at the same time?

I tried disabling the DHCP in router 1, and I gained access to the intranet but lost access to the internet. And vice versa.

How to properly set it up? I have openwrt installed on both routers.

I have two routers, one for internet another one for intranet.

Is it possible to connect a LAN cable between router 1 and router 2 to have both internet and intranet access at the same time?

I tried disabling the DHCP in router 1, and I gained access to the intranet but lost access to the internet. And vice versa.

How to properly set it up? I have openwrt installed on both routers.

Update 2024-03-10

Based on the answer and another post, I have modified my network config a bit, now I can get access to the internet but I can't get access to the intranet.

I think I am missing the explicit route setting mentioned by @sleepyhead which I am not sure how to do it in openwrt. I tried to do the setting below but it still doesn't grant me access to the intranet.