You can configure the per-app VPN feature to establish connection to internal resources in full VPN mode.
For details on the requirements for per -app VPNs in Citrix Endpoint Management, please refer to:
https://docs.citrix.com/en-us/citrix-endpoint-management/policies/vpn-policy.html#requirements-for-per-app-vpns
For details on the requirements for per -app VPNs in XenMobile, please refer to:
https://docs.citrix.com/en-us/xenmobile/server/policies/vpn-policy.html#requirements-for-per-app-vpns