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Do you use relays with Tailscale?

Otherwise, UPnP and STUN may not be secure (it’s generally recommended to disable these protocols in router).

STUN isn't something that runs on your router. You can disable UPnP in your router and still use Tailscale perfectly fine.

https://tailscale.com/blog/how-nat-traversal-works/

I thought STUN uses UDP packets, as the name suggests (Simple Traversal of User Datagram Protocol (UDP) through Network Address Translators), as well as standardized port numbers. I thought you could filter its traffic based on protocol and port number.

Enterprise routers sometimes allow only 80/tcp and 443/tcp egress traffic.

That’s why sometimes Tailscale falls back to relaying, which is pretty slow (unless in the future they deploy large number of relay servers around the world).

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