Based on your question above as only the default subnet on hub and spoke Vnets is reachable from on-prem.
- Confirm if there is route table associated with the default subnet and if you need to associate the route table with other subnets. You can go through this VPN gateway transit for virtual network peering guide to check if there was any missed configuration.
- Confirm if any NSG is blocking the connectivity. To test this you can deploy a test VM in the infrastructure subnet and use IP flow verify to check if any NSG is blocking the connectivity.
- Further to help isolate the issue you can simultaneously perform a Packet Capture on the VPN Gateway and the on-prem router to check if you observe any packets from the other subnets.
Thanks