Device should appear with same IP in LAN whether connected through VPN or connected directly

VPN gateways I know of are routing traffic. You could maybe throw heavy NAT artillery at it.

The requirement would need a VPN solution that has direct access to the internal VLANs and allow to assign the user to a specific VLAN directly without routing.

One of the issues here is that we're not quite at the stage where everything including firewalls would be user-based which would make the IP less important.

How do people do this? Do they do it at all? Why (not)?

Thoughts?