NAT creation within subnet

Sir,
I have a server in Mumbai
IP:172.17.8.50
Subnet: 255.255.255.0
Gateway:172.17.8.50
2nd Server is in Main-HO-Bangalore
IP: 172.17.10.110
Subnet: 255.255.0.0
Gateway172.16.1.113
There is a site-2-site SD-WAN Connection between Bangalore and Mumbai

I must access the Mumbai Server through NAT IP: 172.16.5.213 from the Bangalore Server. Is it possible to access through NAT IP, or will looping happen in the Bangalore Site?

Sorry Correction,
2nd Server is in Main-HO-Bangalore
IP: 172.16.10.110
Subnet: 255.255.0.0
Gateway: 172.16.1.113