Headscale: self-host your own Tailscale
Run your own Tailscale control server on a VPS. Install headscale from the official .deb, set server_url before you start it, then join your first node.
#headscale
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WireGuard vs Tailscale vs Headscale
Tailscale is WireGuard plus a control plane. What that coordination server buys you, what it costs you, and which of the three belongs on your VPS.