(Tailscale cofounder) I’m a little more optimistic; wireguard was always going to need a v2 eventually, that’s just the nature of cryptography. It’ll always be simpler than IPsec as long as it avoids live negotiation (you need to specify your suite up front for each node you talk to; v1 and v2 are the only suites) and continues to go over UDP instead of IPsec’s “it’s a different transport protocol!” madness.

Things like Google’s PSP already achieve that while still being hardware acceleratable: https://github.com/google/psp

Post-quantum negotiation will kinda suck but you don’t have to sacrifice everything.