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You can do that using SNAT, since packet filtering rules are applied
after NAT rules in PF.

Suppose you want computers from VLAN5 reach the Internet through gwA
and those from VLAN6 through gwB. This would be the rules to accomplish
this task, considering ipA is an IP from netA, ipB is an IP from netB.

ext_if="em0"
netA="A.A.A.A/28"
netB="B.B.B.B/28"
ipA="a.a.a.a"
ipB="b.b.b.b"
gwA="ga.ga.ga.ga"
gwB="gb.gb.gb.gb"
vlan5="10.10.5/24"
vlan6="10.10.6/24"

# NAT section
nat on $ext_if from $vlan5 to any -> $ipA
nat on $ext_if from $vlan6 to any -> $ipB

# PACKET FILTER SECTION
pass out on $ext_if route-to ( $ext_if $gwA ) from $netA to any keep
state
pass out on $ext_if route-to ( $ext_if $gwB ) from $netB to any keep
state

The idea is to route packets by source IP as criterion. This solution
works for me, too.

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