Zeroconf Networking RFC 6272, RFC 6273 has the fundamental design constraint of being "local subnet only".
Zeroconf's multicast packets have a TTL of 255, and if you try forward these through a router, TTL is decremented by 1 (that's what routers do...). Zeroconf implementations I have come across drop the packets they receive if the packet's TTL is <255. There's a reference to that in RFC 6272, p.37:
All Multicast DNS responses (including responses sent via unicast)
SHOULD be sent with IP TTL set to 255. This is recommended to
provide backwards-compatibility with older Multicast DNS queriers
(implementing a draft version of this document, posted in February
2004) that check the IP TTL on reception to determine whether the
packet originated on the local link. These older queriers discard
all packets with TTLs other than 255.
Even using a "multicast helper" will not help here; while it can convert multicast packets from one subnet to unicast packets in the other, TTL will still be decremented.
To make it work, you'll need software on a dual homed system/host acting as gateway, "recaster" or proxy server.
Some network vendors have a "service discovery gateway" feature. I do know that Cisco IOS and IOS XE based routers have it. It is described here: https://www.cisco.com/en/US/docs/ios-xml/ios/ipaddr_dns/configuration/15-e/dns-serv-disc-gtw.html
Service Discovery Gateway
The Service Discovery Gateway feature enables multicast Domain Name
System (mDNS) to operate across Layer 3 (L3) boundaries (different
subnets). An mDNS gateway will be able to provide transport for
service discovery across Layer 3 boundaries by filtering, caching and
extending services from one L3 domain (subnet) to another. Prior to
implementation of this feature, mDNS was limited in scope to within a
subnet due to the use of link-local scoped multicast addresses. This
feature enhances Bring Your Own Device (BYOD).