This works to some extent:

1. Flip the normal of the inner faces
2. Bake the Object space normal
3. Connect it in your material shader graph, be sure to use Object Space in your Normal Map node.
4. Create a new image, select it and now bake the normal map, but this time use Tangent Space.

If anyone knows the better workflow, please share it :)

This works to some extent:

1. Flip the normal of the inner faces
2. Bake the Object Space normal
3. Connect it in your material shader graph, even though your normal is in Object Space, use Tangent Space in your Normal Map node.
4. Create a new image, select it and now bake the normal map, but this time use Tangent Space.

If anyone knows the better workflow, please share it :)