> Or is it possible to allow access from my trusted network INTO the restricted network

Yes, my home network works exactly like this. I have a vlan called "trusted" which can connect to any other vlan. One line in pf.conf.

My VLANs are something like: trusted, guest, media, cameras, printer, etc.

Many of these aren't allowed inbound or outbound connections (e.g. cameras and printer can only talk to things on their subnet).

Only downside is that stuff that works off broadcast packets (like bonjour) does not work across subnets.

Each of the VLAN is (or can be) just another network from the router’s and firewall’s perspective. So you just have to set up appropriate firewall rules to allow traffic between the networks that you want to communicate.

You could, for example, allow only TCP traffic initiated by hosts in the “normal” VLAN to hosts the IoT VLAN. So IoT stuff can’t initiate outgoing connections to any other network, and can only receive TCP connections from one network.

You can also set up an MDNS reflector on your router if your IoT devices use that (e.g. HomeKit) to send data proactively back to “normal network” hosts.

>Or is it possible to allow access from my trusted network INTO the restricted network, but not the other way around?

Yes