This requires buying hardware, but Firewalla provides Wireguard for their router/firewall appliances. It works really well though it's just plain Jane WireGuard

This requires buying hardware, but Firewalla provides Wireguard for their router/firewall appliances. It works really well though it's just plain Jane WireGuard and doesn't have the fancy feature set that Tailscale provides like ACLs, key base auth, etc. If you want a purely software defined solution, Netbird is gaining popularity.