I try to avoid "being helpful after it's too late", but you might be interested in:

https://github.com/juanfont/headscale

Or

https://github.com/complexorganizations/wireguard-manager

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Discussion

This would work best for my use case: https://github.com/slackhq/nebula

But currently I also see other benefits in using TLS (FDB uses TLS certs to distinguish server-to-server communication, from clients)

I'm not familiar with nebula, but it seems reasonable