indeed DNS is not required if you only access IP addresses but when it comes to connect to Windows using UNC, this might be required.
in such case, you will have to add your "internal" DNS to your client connecting remotely.
I'm a bit confused with
The LAN network is 192.168.0.0 and the VPN issues 192.168.160.0 getting from 192.168.160.0 to 192.168.0.0 is where I am having the issue is seems
192.168.160.0 is the VPN network, connecting you to Zentyal server.
Advertising 192.168.0.0 means that remote client, once connected through VPN, knows that route to 192.168.0.0 is through VPN network.
Is your Zentyal server the default route for internal machines? If not, they don't know route to 192.168.160.0