I don't really know much about cyberoam configuration. Someone did the setup, I just know there are three segments with IP 192.168.10.... , 192.168.20... but all is on one domain.
On the cyberoam setup, does traffic pass between each network i.e. 192.168.10.0 access / ping 192.168.20.0 devices and the other way round.
On what network is the 3CX server on, can the other networks access / ping the 3CX server.
if you can access / ping the 3CX server, then you need to do the following if the phone is supported
1. On the remote network setup DHCP 66, https://www.3cx.com/sip-phones/dhcp-option-66/ if your phone allows it. If the phones does not allow option 66, you will have to provision the phone manually
2. Setup the phone / extension , enter the mac address of the phone and use local lan as the provisioning method