Basically no, you can't do what you are trying to do.
Think of separate VLANs as physically separate switches that are NOT linked together. There needs to be some sort of join between them for traffic to flow. Or if you want a device to be able to talk to both VLANs then it needs to be ''plugged in'' to both VLANs. Plus if you want anything to be able to talk to both VLANs they need to have separate IP ranges. Having the same subnet on both VLANs will prevent you from being able to talk to both. The whole idea of a subnet is to have 1 unique subnet per broadcast domain. A VLAN is a self contained broadcast domain. Simply having the same IP subnet on 2 separate networks does not make them part of the same broadcast domain.
If you want some form of separation without routing, then you have 3 options.
1) put the cams and NVR behind a firewall. You don't need routing or VLANs or even separate subnets, though you might as well as most firewalls are also routers. For that matter most managed switches are also routers.
2) have two nics in the NVR or PC to have that device in both VLANs. Do not use the same IP subnet for both or you won't be able to talk to both VLANs properly.
3) don't use separate VLANs, just separate subnets and add multiple IPs to your PC single nic and put the NVR in the same subnet as the cameras.
Option 1 and 2 offer much more separation than option 3
Edit: If a device has a network card on the same set of physically linked switches, and the same vlan and the same subnet as another device, and neither device is using an overlapping ip range (aka subnet), then yes they can talk to each other, no matter if either or both devices are members of other vlans or not.
You seem to be getting caught up on tagged vs untagged vpid. They are only mechanisms to determine which vlan the packet should be switched on to, or which vlan the network card will be sent packets from or listen to. There is essentially no difference between a packet on the switch from an untagged vpid vs a vlan tagged packet. If they both have the same vlan number they will be connected by the switch. If they have a different number they will not be connected, ie not be plugged in to the same network, even if both are using tagged, or untagged, or vpid. Incidentally a single network port cannot have 2 VLANs using untagged packets on the same physical port in the switch. If a packet has no tag then the switch assigns a default number as the VLAN for that packet, which is what the VPID specifies.
Once the devices are plugged in to the same vlan switches, you can then worry about connecting them to the same IP range on that switched network, and avoiding overlapping and conflicting IP ranges.