Do I need an attorney to pursue this matter

You need to consult a local real estate attorney who understands the specific rules that apply to your property. These types of rules, and how they are interpretted, vary from state-to-state.

Your question is a little unclear, are you are stating that you own two lots, one situated and zoned in one Borough and the other situated and zoned in another Borough, or two lots zoned differently by the same Borough. Either way, you can file for a zoning change with the Borough inwhich the lot you want to change is situated. The Zoning Board will consider whether a variance or change is appropriate. Many factors go into determination and it is likely that a public notice and hearing would need to be provided for the zoning board to make a determination. Contact the Zoning Office of the Borough where the property you want to change is located. I would suggest that you be able to document and argue that the change will provide the highest, best use of the land, just arguing that it saves you money may not be an appealing arguement to the local Borough.