Can hosts on a NATed interface talk to hosts on a bridged interface

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Yes. This is a common question because it is not possible in m0n0wall due to issues in IPFilter's ipnat when working with bridging. This is not an issue with pf, and hence not pfSense.

For hosts behind the NAT/routed segment, NAT must occur as traffic exits toward the bridged systems so that the return traffic will come back to the firewall.

For hosts on the bridged segment to reach hosts behind the NAT segment directly, a static route could be used on the bridged hosts or upstream gateway to send the "private" subnet traffic to the IP address of the firewall in the bridged network.