Connecting to internal AWS VPC machines/DBs via wireguard.

I have followed the private networking guide to setup a wireguard connection from my fly.io organisation to a EC2 machine running in our AWS VPC. That seems to be working correctly.
Im struggling with the next steps in connecting to services running in our VPC from my fly.io app. Should I be able to connect directly to the private IP DNS names of different servers in our VPC? Or do I need to set up extra port forwarding or routing configs to make them discoverable from my fly app?
Thanks for the help!

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