This is called hairpinning, and while some domestic routers can do this, they are rare - that is a matter for research.
Using split DNS is often a better way to approach this type of issue. Usually when accessing the public IP address from inside the network is needed, it is because there is a device that needs to access an internal resource from both outside and inside the network. It is configured to use the public address when outside, but then needs to be reconfigured to use the private address when internal.
Using split DNS can solve this problem by using a public DNS service for the the external address, but then running an internal DNS server that serves the internal IP address for the same DNS entry.
Lets say for example that your 126.96.36.199 IP address has the dns name
myserver.domain.com, which works when external to your network. You would then install a forwarding DNS server on your internal network, perhaps on the
10.4.3.100 server. It would have a zone file for
myserver.domain.com, resolving the
myserver.domain.com address to
10.4.3.100. Set this to have a low TTL so that it doesn't get cached for long.
You would use your internal DNS server for any name resolution while within your network, forwarding any requests it cannot resolve itself on to your ISP.
You would then configure any applications to not use
188.8.131.52 but to use
myserver.domain.com, and they will work both inside and outside the network.