PANS R2: Single gateway receiving data from 2 different PANID networks

I am using PANS R2 to enable gateway functionality in my RTLS system. The gateway node is mounted on a Raspberry Pi 3b and can relay all network data and relevant MQTT topics. I would like to know if there are 2 networks with different PANIDs in the range of a single gateway node, can I receive data for both the networks on the same gateway and allow to monitor/data exchange with 2 networks.

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