Let's start with the basics, UDP is a stateless protocol.
Ok, now that we have established this part, you probably realize the problem.
DHCP is even worse, as it uses Broadcast, which normally doesn't work through VPN.
There are some Inspect rules that you can enable/disable, for example for SIP voice traffic, more details here:
https://www.cisco.com/c/en/us/td/docs/security/firepower/623/fdm/fptd-fdm-config-guide-623/fptd-fdm-advanced.htmlMost often you should (must) simply open the needed ports between the source/destination though.