Ура! Разобрался!
ROUTER config
/interface bridge
add name=bridge1 vlan-filtering=yes
/interface vlan
add interface=bridge1 name=VLAN10_bridge1 vlan-id=10
add interface=bridge1 name=VLAN20_bridge1 vlan-id=20
/interface bridge port
add bridge=bridge1 interface=ether1 pvid=10
add bridge=bridge1 interface=ether2
add bridge=bridge1 interface=ether4 pvid=20
/interface bridge vlan
add bridge=bridge1 tagged=ether2,bridge1 untagged=ether1 vlan-ids=10
add bridge=bridge1 tagged=ether2,bridge1 untagged=ether4 vlan-ids=20
add bridge=bridge1 tagged=ether2 untagged=bridge1 vlan-ids=1
/ip address
add address=192.168.99.1/24 interface=bridge1 network=192.168.99.0
add address=192.168.10.1/24 interface=VLAN10_bridge1 network=192.168.10.0
add address=192.168.20.1/24 interface=VLAN20_bridge1 network=192.168.20.0
/system identity
set name=ROUTER
