AD FS .local domain question

Question

I installed 2 ADFS servers in farm,

Server 1: IP: 192.168.3.51 (DNS: adfs1.mydomain.local)

Server2: IP: 192.168.3.52 (DNS: adfs2.mydomain.local)

AD FS service name is adfs.mydomain.com

My question is how can users from inside domain (mydomain.local) access adfs.mydomain.com service ? My internal DNS server only resolves mydomain.local names.

If i create A record on public facing DNS that points to my internal AD FS server then users from outside will not be able access service do adfs.mydomain.local because it will point to internal IP.