Headscale is good. We're using to manage a two isolated networks of about 400 devices each. It just works. It's in China so official Tailscale DERPs do not work

Headscale is good. We're using to manage a two isolated networks of about 400 devices each. It just works. It's in China so official Tailscale DERPs do not work, but enabling built-in DERP was very easy.