Inter-node mesh with raw Wireguard is an exercise in patience to say the least; I have a few different colo sites, my house, my phone, LTE/5G hotspots, raspberry pi projects in the field, etc that I want to fully connect together.
Raw Wireguard is fine for a road warrior or site-to-site VPN setup as is common, but when you want multipoint peer-to-peer connections without routing through what might be a geographically distant point, magic DNS, etc, Tailscale really shines through.
Although at that point I'm sure you, and any similar user, would not actually rely on ad-hoc advice like in this thread, and instead just evaluate what is needed.
As an aside, personally speaking, headscale solves basically none of my concerns associated with introducing more software, complexity and third parties (the maintainers) into my network setup.
Less so because of paranoia towards the software/product itself, and more so because of the increased surface area to attack.
But I also think that anyone actually bothering to set headscale up probably falls into the aforementioned group of people that actually thinks about their requirements.
Raw Wireguard is fine for a road warrior or site-to-site VPN setup as is common, but when you want multipoint peer-to-peer connections without routing through what might be a geographically distant point, magic DNS, etc, Tailscale really shines through.
If you're paranoid, enable https://tailscale.com/kb/1226/tailnet-lock or run https://headscale.net/ on your own as a control server.