Worth taking look at http://tailscale.com - Their tag line: Private networks made easy. No affiliation -- just like their product.
This is why I'm still using https://zerotier.com -- also no affiliation.
The hosted Tailscale product is meant for GSuite customers who want an peer-to-peer VPN with corporate SSO. Yes, you have to trust them - SSO login is inherently centralized. My company uses it, it works great.
You mean... like tailscale does? (e.g. They have devices registered with a name and you can access them. They're all given static IPs so an internal DNS server could simply resolve their names... kind of like service discovery)
As a test, I did set up a vxlan tunnel through a wireguard tunnel (linux to linux) to prove that it is possible to get that working. However, I can't do that on something like a mobile android client.