@AK-4-Life 

How you managed this 3210XHP? If you are using standalone mode, then on the L3 features->Interface page you will be able to see the Routing Config.

If you choose enable IPv4, then all VLAN interface should be able to communicate with each other by default. The switch will create the routing automatically.

Also you may refer to this example, in this example all VLAN subnets can talk to each other.

  @Somnus Yes, I am managing it thru the Web GUI, I do not have an Omada controller.

This is the config of my IPv4 routing: 

However, I cannot ping from my pc (10.10.6.1) on vlan1 to vlan2 or vlan3 (192.168.6.253 or 10.10.7.253).

  @AK-4-Life 

Check you PC gateway. You need to use 10.10.6.253 as the default gateway to make it work.

  @Somnus ok, i set the GW to the switch, and I lost internet connection.  However, I was able to ping the switch IP on VLAN2 and VLAN3 from my PC on VLAN1, but was unable to ping the VLAN2 or VLAN3 router.  So kind of worked, but not all the way. 

  @AK-4-Life On the router you need to do static routing, so it know how to send the data back to the switch.

For example on VLAN2 router, set up a static routing: destination IP  10.10.6.0/24, next hop 10.10.7.253(switch IP in VLAN2)

Actually you should put router in a different subnet from your local network, that will be more easier to understand.