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Tailscale employee here. Tailscale SSH works at the target side by listening on the SSH port on that machine. Client changes aren't needed for this to work, all that is required is to use your SSH client as normal. This should allow you to use sftp and scp without issues.

For what it's worth I encountered the same issue and came up with a solution:

https://github.com/cloudflare/cloudflared/issues/574

Cloudflare have ignored the github issue (which includes a solution) but at least 3 other people seem to have found my solution helpful.

Thanks! Make that 4.

We don't modify or require changes to your SSH client. You can use any SSH client you want.