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You can always run Headscale: https://tailscale.com/opensource#encouraging-headscale

> Headscale is a re-implemented version of the Tailscale coordination server, developed independently and completely separate from Tailscale. Headscale is a project that complements Tailscale — with its own independent community of users and developers. Tailscale does not set Headscale’s product direction or manage the community, and neither prohibits nor requires employees from contributing to Headscale.

I had a Headscale server running for a few years with no hiccups. Setup was easy, it's not too resource intensive, and you can use the normal Tailscale client.

So Tailscale has "extra dependencies" on Tailscale. Gotcha.

Tailscale is an extra dependency vs using WireGuard directly, which is what was being discussed.