Can I listen and reply to a directed broadcast from a different subnet

I've just updated all the switches on my home network and am looking at setting up some VLANs. I have one device that I want to put inside the IoT VLAN but needs to connect to a service running on a machine in the untagged LAN. It does this by sending out a directed broadcast UDP packet to 192.168.20.255. The IP of the listening service is 192.168.0.254

I can see (using tcpdump) the packet on the machine running the service, but it isn't picked up by the UDP socket which is listening on 0.0.0.0.

Is there any way I can grab this packet which will then set up a 2-way connection using the specific IPs.