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First, I'm not really good at networking terminologies, So I'll explain the case as simple as possible.
I have a PFSense set up, my PFsense gets its internet through its WAN IP 192.168.10.2 and disperse to clients on its DHCP LAN IPS 192.168.20.100~150
Everything works, 20.xx has internet access, problem is they also can ping the ip groups in 10.x example PC outside pfsense with IP 192.168.10.50
How do I stop this from happening? This also applies to routers.
If you have a firewall rule permitting "LAN" clients' requests to any destination address to be forwarded out of the "WAN" interface, the pfSense does just that.
If you want to restrict that rule in part, you need to put another rule in front, explicitly denying access to the "WAN" subnet itself.
Broadcasts don't cross routers generally, so that doesn't seem to be your problem.
