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ZeoTier, which also uses UDP, has an iOS app. So it is possible if the dev team wants to prioritize it.

I seriously recommend all to try zero-tier. Especially the fine-grained permissions control is fantastic. It is the only one that went so far as fool-proof.

It wasn't a whole lot of fun trying to connect code designed to operate at L2 (ZeroTier) with the L3 tun adapter they give you in iOS and Android. Fortunately that code doesn't have to be touched too often though :)

Is it open source?

Fortunately WireGuard only encapsulates at L3, if I’m not mistaken :)

The way WireGuard is designed should actually result in a more stable connection for the end user when the device is hopping between LTE and WiFi constantly.

There apps that can run as third party VPN providers on iOS. It's often used by corporate networks that use non-standard VPN protocols.

So there is hope. :-)