The best option is just to use tailscale, either on your router or on a device on the network that is always on, and set it as an exit node. It uses Wireguard under-the-hood, and it way easier to setup.
If you really must use Wireguard directly, get a router like a GL.iNet with OpenWRT that has a Wireguard server built-in. It'll handle creating certs for users, etc.