Based on relativistic mean field (RMF) models, we study finite $Lambda$-hypernuclei and massive neutron stars. The effective $N$-$N$ interactions PK1 and TM1 are adopted, while the $N$-$Lambda$ interactions are constrained by reproducing the binding energy of $Lambda$-hyperon at $1s$ orbit of $^{40}_{Lambda}$Ca. It is found that the $Lambda$-meson couplings follow a simple relation, indicating a fixed $Lambda$ potential well for symmetric nuclear matter at saturation densities, i.e., around $V_{Lambda} = -29.786$ MeV. With those interactions, a large mass range of $Lambda$-hypernuclei can be well described. Furthermore, the masses of PSR J1614-2230 and PSR J0348+0432 can be attained adopting the $Lambda$-meson couplings $g_{sigmaLambda}/g_{sigma N}gtrsim 0.73$, $g_{omegaLambda}/g_{omega N}gtrsim 0.80$ for PK1 and $g_{sigmaLambda}/g_{sigma N}gtrsim 0.81$, $g_{omegaLambda}/g_{omega N}gtrsim 0.90$ for TM1, respectively. This resolves the Hyperon Puzzle without introducing any additional degrees of freedom.
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