Not sure I understand what you are trying to accomplish here.
What is the 192.168.10.1? Is there a network 192.168.10.0/24?
Is this network connected to one of the firewall's interfaces or is it a routed network behind 10.0.0.0/24?
When you are writing "I've also tried Automatic NAT on network 10.0.0.0/24, but looks like this solution is only for traffic originated inside and not from VPN. Obviously create Static NAT with fixed IP from subnet 10.0.0.0/24 is working, but want to avoid because some remote client can have different IP from the already known."
My understanding is that the clients you are expecting to come in would all belong to the 172.16.32.0/24 (for now).
So your working NAT rules, presumably (or should) look like:
172.16.32.0/24 to 10.0.0.x/32, service; original to 192.168.10.1, original
192.168.10.1 to 172.16.32.0/24, service; 10.0.0.x/32 to original, original
where 10.0.0.x/32 is the single IP your peer would be connecting to for a given service.
You can define that IP either as a dummy host or as a /32 network.