I've even got a backup wireguard server running on a Pi 1b. Works fine. We currently run wireguard on our router (and it seems more and more routers are supporting it).
There are keys to configure for each client, but once you have the configuration for one client, the rest come very quickly and easily.
I should add that I don't have any experience with Tailscale, but compared to OpenVPN and other VPN solutions, Wireguard is lightweight, simple, and easy to setup/configure.
We use it on all our mobile devices (phones, laptops, tablets) to tunnel our traffic through our home network with all the filtering it offers (along side access to private services we host).
I find tailscale to be simpler, more reliable and cover my needs better. I am pretty sure that have i known about tailscale before, i wouldn't have got the unify gateway.
I still love my unify though, dashboard galore
Once you install it you can then do everything from a UI to onboard new users.
It supports OIDC so you can avoid mangling with password and delegate that to an iDP such as google, github etc.
That being said, I do understand the appeal of Tailscale and have used it.