Regardless of the layer, in a few words WireGuard is a simple encrypted tunnel over UDP. Since it’s UDP - there’s no guarantee all packets will be delivered, BUT - what WireGuard places emphasis on is all packets delivered from the WireGuard interface will be authenticated and encrypted. Similarity if packets are received from a particular peer, replies to that IP address will be guaranteed to go to that same peer.
The best feature of all imho is OpenSSH inspired authentication - makes configuring server/peers really straightforward.
References [1] https://www.wireguard.com/papers/wireguard.pdf