Two Turris router VPN scenario with DDNS on both sides

I have the above scenario where both routers must resolve the other routers IP-address in order to connect to each other via VPN. The routers are in different countries.

I need help configuring a working VPN-tunnel plus I think, Policy based routing. It’s only a few domains that I need to use the VPN-tunnel. Access to each LAN over the tunnel is also on my wish list.

I will pay for a working solution! Any VPN-gurus out there? Or suggestions where I can get proficient help?