There is also Cloudflare Zero Trust (Teams), which is free for 50 users and accomplish the same thing (Wireguard = Tunnels), with a lot more years of "trust" and security behind it.
However, it's very cumbersome to setup, nowhere near as easy as Tailscale.
Cloudflare Zero Trust here: we're releasing significant improvements in the setup with Tunnels in a few days that addresses this exact kind of feedback.
We believe that our security, performance and integration with the rest of Cloudflare are already quite awesome.
We're going to raise our usability by quite a notch with the news coming up. Stay tuned with blog.cloudflare.com
However, it's very cumbersome to setup, nowhere near as easy as Tailscale.