Zerotier access Home Gl.Inet IP while traveling using another gl.inet

I have two gl.inet routers Router A at home and Router B used for travel. I want to route traffic while traveling through Router A so that my IP is always that of Route A. I am using Zerotier for this but am not able to achieve the desired action. Can someone please provide step by step instructions on this. The home router is Slate AX and travel router is Beryl.
Thanks.