I was going to try TailScale but then it seemed the only option to do so as an individual was to login with a 3rd party cloud provider, which I in no way want tied into my networks.
I gave up and just setup wireguard directly instead, I don't trust Tailscale either if that's their attitude towards privacy, it's permanently marred my vision of their product.
Indeed, this is why I won't use it either. I settled on Slack's Nebula [0] instead of wireguard because it handles direct p2p communication between nodes automatically.
There also exists an open source implementation of the tailscale control server [1] that you could self host.