The project has been moving to supporting directly connecting to other identities but it hasn't been a priority yet.
The connections an OpenZiti identity makes to another OpenZiti identity are direct-over-OpenZiti (not direct over IP underlay) if that makes sense. I don't know if you'll ever be able to have two process communicate without that third 'arbiter' process (I'll call it). It might happen, but right now it seems less likely than the direct connect approach.
hope that helps. But you can definitely have an SDK app client connect to an SDK app "server" and be fully zero trust, fully app embedded, fully end to end encrypted, peer-to-peer (over the overlay) connections.