Try netbird which is an open-source alternative to free yourself from worries xD
https://github.com/netbirdio/netbird
Would this service be comparable to Headscale[0]?
Their clients for proprietary OSs are at least partly proprietary too.
To be honest I find this all a very reasonable set of compromises. It means I'm comfortable using their proprietary service without feeling like I'm getting locked into a completely closed ecosystem.
I was about to slog through AI search results looking for an alternative.