Hi,
You would have to configure Static NAT from DMZ to INSIDE for the server in the same way you have done for DMZ to OUTSIDE.
Basically in the following way for example
object network DMZ-WEB
host 192.168.1.1
nat (dmz,inside) static 101.100.1.2
This would enable your users on the "inside" to access the "dmz" server with the public IP address. And naturally only with the public IP address after this NAT.
Hope this helps
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Feel free to ask more if needed
- Jouni