This looks interesting. I’m currently evaluating my options of just giving in to Tailscale or trying to replicate it with plain Wireguard… or something like you’ve built. One thing I’m intrigued about is Tailscale’s MagicDNS, is there any way to replicate it with just WireGuard?

I just use plain DNS with plain Wireguard.

It's not as magic, but DNS can be made easy/automated with https://github.com/octodns/octodns or https://github.com/StackExchange/dnscontrol .