My main concern currently is the coordination server which does not fit the zero trust claim.
I know that the traffic between peers is end-to-end encrypted and you did a good job designing your DERP protocol. However, the ability of the coordination server (login.tailscale.com) to add arbitrary nodes to my private network without my consent scares me.
Maybe you can use Wireguard's PSK to add an additional pre-shared-key to all nodes that is not managed by the coordinator (and never transferred to it)? This would make the setup slightly more difficult (you need to login to tailscale.com AND you need to provide your PSK), but it would at least ensure that the system can never talk to foreign nodes added by the coordinator itself (because the foreign nodes do not know the PSK).
If you already use the PSK for something else, another passphrase/key-file that is never transmitted and is XOR'ed over the PSK will do the trick. The firewall configuration that is pushed to all clients should be probably signed by a local key too, since it is rather critical.
Another possible attack of the coordinator would be if he pushes a configuration with correct VPN IPs and correct public keys, but changes the mapping between them. Since the IP within a wireguard network is usually used as an identity, this might be a huge problem.