Dear @sandrodiasalves,

The IPSec VPN configuration is not such complicated, we just need to ensure the settings match so that the two VPN routers can talk to each other successfully, all the necessary settings are mentioned in the VPN configuration guide. 

I managed to establish the connection between the routers, I can access rotator A through B vise and versa, but, it is not possible to see the network content from both sides.

The VPN tunnel is fine now, to figure out why you cannot see the network content from both sides, we can use the ping command to test the connectivity. To learn how to use the Ping command: https://www.tp-link.com/support/faq/425/

Besides, it's important to check how you access the network content (what protocol it is based on).

I have already tried tips like disabling load balancing and control, disabling UPNP and especially the firewall of computers, but under normal conditions of operation of the router is it necessary to always disable the firewall?

I believe it is a matter of configuring the definition of IPs and subnets and configuring dhcp, in which case is it necessary to create an IP pool? and how should the ideal

configuration be within my topology below?

The firewall of computers may block the ping requests and block the point to point communication, it's necessary to disable firewall settings briefly to do the tests. There is no need to change any other unrelated settings on the routers.

Hope the above information is helpful.

P.S. I noticed that you have started another thread before. Sorry that we may not be able to help you in a rapid way on the Community. If you need urgent assistance, I suggest you may contact the local support instead, https://www.tp-link.com/support/contact-technical-support/#Hotline-Support