Three VLAN, unmanaged switch, one interface config questions

Hi,

 I have a project but I need help to make it work. I have two companies that I run from home so on my network, I have multiple computers. I have a PFsense with two network card (WAN and LAN) and a TP-Link unmanaged switch.

Here's what I would want:

10.20.10.0/24: Company1 computers
10.20.20.0/24: Company2 computers
10.20.30.0/24: Home computers

That, I can probably make it work. Here is the issue now. I use my home computer to access all the computers (RDP, shared files, etc). So I would need one computer to be able to access all VLAN (let's say: 10.20.30.5 needs to be able to communicate on 10.20.10.0 and 10.20.20.0).

Is that achievable?

Thanks