To be clear I implicitly and explicitly trust tailscale not to tamper with my networks and if your threat model includes tailscale becoming a bad actor you should remember that in that case running their binary in the first place could already be game over.
Also for Linux, the Tailscale client is fully open source and I obtain the binary from the distro. I find that a bit reassuring.
1) Run tailscale --ssh on your server 2) A malicious SSO or tailscale add a new machine to your network and update your ACL such that the new machine can connect to your server 3) ssh from the new machine to run code on your server
The fact that the connection between the malicious machine and your server is double encrypted doesn't affect the attack here at all