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It's a proprietary network but not proprietary agents (except the bits specific to proprietary platforms).

One handy feature this enabled is that you can include their open source go library in your program and avoid needing to install anything besides your own binary.

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Isn't there even an open implementation of the network/coordination layer (Headscale)?

But regardless, the best term I've heard for these types of networks is overlays. You can add "zero trust" or whatever to make it seem more fashionable, or VPN if you're old school. I remember using Hamachi for this type of use back in maybe the early aughts.

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