There're some ways to expose services: NodePort, LoadBalancer, etc
K8s cluster is in-network 192.168.10.0/24 but I want to access it from 10.100.10.0/24, assume that we have a firewall configured.
How can I access services in the k8s cluster from an external local network 10.100.10.0/24?
You've already mentioned it NodePort and LoadBalancer.
In the case of NodePort, you would use the IP address of the node and the specific TCP/UDP port on that node.
In the case of LoadBalancer, you would you use an 'internal' load balancer and use the IP or DNS entry for that load balancer.