I haven't tried ZeroTier but I've heard good things.
In the form provided by Raspiblitz yes. But Tailscale controller is closed source (Headscale is an open source reimplementation), while Zerotier controller is open source and you can host your own with the same code they run: https://github.com/zerotier/ZeroTierOne/tree/dev/controller
Discussion
I give it a try, and works pretty well