The project I am a maintainer on, OpenZiti is an open source project that has high-quality MacOS, iOS, Windows, Android and linux clients https://openziti.io/docs/learn/introduction/

OpenZiti underpins the private connectivity from zrok, another opensource project and is one of the ones that is __not__ riding on wireguard which many people think is a good thing, but sometimes people are interested in a wireguard-based approach.

There is a huge list of alternatives as well you can find at https://github.com/anderspitman/awesome-tunneling. You can find OpenZiti and zrok on there but the github urls if interested are https://github.com/openziti/ziti and https://github.com/openziti/zrok