OpenVPN VPN Setup

Hello,

I need a help for VPN setup in particular situation.

I want to connect some sites through VPN with following configuration:

Site A (private network) = Host A + Router A With Internet access without dedicated public Address;
Site B (private network) = Host B + Router B With Internet access without dedicated public Address;
Connector = A VPS CentOS 7 Server with public dedicated IP Addresses

I want to setup VPN Server on Connector or use a Cloud OpenVPN to have private tunnels to allow Host A to communicate with Host B

Router A is Pfsense appliance or Teltonika Router / Modem
Router B is Teltonika router (or any recommanded router)

I need a specialist to help setting up such configuration.

Thanks.