[Tailscale] Access to device in my Tailscale network via HassOS from device in local network in home

I wonder if it is possible to access devices in the Tailscale network from the local network at home.

I have the Home Assistant operating system installed on my PC at home. Tailscale installed on it and connected to my Tailscale network. This Tailscale network also includes devices from outside the home. I would like to connect to one of them using a remote desktop from a TV with webOS. I can’t install Tailscale on it. So can this computer with Home Assistant OS act as a gateway or redirect the connection?