As the author notes: "you can run a road-warrior-style Wireguard server in K8s without making changes to the node."
Which makes this guide ideal for me. I run a lightweight K8s flavor (K3s, https://k3s.io/) as "configuration management" on my home server and home automation Raspberry Pi's because I don't want to mess with OS/userland configuration or the associated tools (Puppet, Ansible, hacked together scripts, etc) or want to maintain any OS state manually.
For my setup I just flash K3s to disk or SD card and let it join the cluster. Everything else is configured in Kubernetes and stored nicely as configuration files on my laptop so I have an overview of everthing and can modify/rebuild whenever I want.