The SDEs \begin{equation} dZ_t = \mu(t,Z_t)dt + \sigma(t,Z_t)dW_t \end{equation} with prescribed initial conditions are well studied. My question came up in my research and I have not found much on the subject. I was wondering under what conditions does there exist a solution to the above SDE on $[t_1,t_2]$ with the initial and terminal conditions: $Z_{t_1}=z_1$ and $Z_{t_2}=z_2$?
Does there exist a good reference to these types of problems/ are these well studied? I know people use BSDEs usually to work with terminal conditions but when we have both initial and terminal conditions how can we approach the problem?