Kubernetes: How to expose a Pod/Deployment to the Nodes Network
Some clarification first, 
the ClusterIP is only accessible inside the cluster this is not the right choice to solve your problem and the LoadBalancer depends on the integration with your network, real or virtual, to generate the correct resources and assign an IP address.

With that said, an easy way open a service port should be to use services of type NodePort it assigns a port directly on the machine, the same way you do when you open ports on a Linux machine, but with the difference that all the process is managed by Kubernetes. In that scenario, you only need to worry about the routes between the networks managed on your router.

You have more info about NodePort on the official Kubernetes documentation here

UPDATED

As per the last comments, for the use case, the use of NodePort should work and probably is a good option to use some DNS management like external-dns to not worry about how to setup the right IP.