You don’t need both side to be ‘servers’ for site-to-site VPN (fact: WireGuard is a peer-to-peer protocol, not server-client protocol). I think your current connection is good.
The only thing you need to make it site-to-site is to put subnet A in B’s AllowedIPs, and vice versa. And if you’re running WireGuard not on your router, add the other subnet to point to your WireGuard machine in your router’s static route, as you mentioned. (e.g. 192.168.8.0/24 via <Odroid_ip>)
And if you want to restrict only few addresses, replace AllowedIPs to the IP,… that you allow… (e.g. replace AllowedIPs = 192.168.8.0/24 to AllowedIPs = 192.168.8.4/32,192.168.8.5/32)