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I tried ZeroTier in the past, and it was great, but didn't have an iOS app. Do any of those do?

ZeroTier has an iOS app now.

Zerotier works at a lower level. This means you can do other protocols than tcp/ip

I don't think that's correct, they both expose TUN/TAP devices so should be equivalent in their encapsulation abilities. I use both regularly.

It is correct because a TUN interface is not the same as a TAP interface. The latter is layer 2.

Tailscale can do UDP also.

"TCP/IP" means TCP, IP, and UDP.

ZeroTier can do other protocols like NetBIOS, so you can use it to run LAN games that don't use TCP/IP.

Yeah netmaker is really easy to set up