I also use wireguard on a vm for my VPN needs. I also use it to connect a few servers together. I tried the open source tailscale alternative netmaker which is

I also use wireguard on a vm for my VPN needs. I also use it to connect a few servers together. I tried the open source tailscale alternative netmaker which is quite nice but in the end I found it unnecessary for my 5-6 hosts since the wireguard stuff for me is basically set-it-and-forget-it. (I chose netmaker because it also uses wireguard.)