That is a setback of dynamic tunnel, it behaves like a remote-access vpn-client. Only remote vpn-end-point can initiate traffic to destination network at first and only after remote-tunnel end-point initiated the traffic to the your local-subnet, only then the traffic flow becomes available both ways.
Traffic cannot flow first from your local-subnet to remote vpn-end points but only other way around.
Or you create a GRE over IPSec, between your remote-end-points and local subnet switch and establish EIGRP neighbor over GRE over IPSec.
in which case, your remote tunnel-end point becomes a routing peer.
Hope this answers your question.
thanks