Yeah, Tailscale is really cool. The only thing I wish is that they didn't tie auth to either a big tech monopoly (Google, github etc) or running your own IDP service. I would love to use Tailscale for some self hosted stuff I have, but hesitate to start exposing something like an identity management tool because that's a high value target. And of course, I don't really want to let Google et al be in control of my VPN setup either.
They're a competitor that offers VPN with similar idealized P2P topology. Unlike Tailscale, ZT is not based on wireguard (ZT predates wireguard), but they do offer the option to use their own local auth without reliance/potential issues with yet-another party.