This definitely doesn't qualify as a lesson learned. It's maybe, maybe, best current practice, if you squint.
We've even seen in other threads the WireGuard author arguing that oh, well, if there's a problem with say key exchange (it has a "conventional" elliptic curve key exchange and so an adversary with a big Quantum Computer definitely breaks that) then you can still rescue with PSKs. And as well as not addressing problems in any other primitive that doesn't stand up to a laugh test. If PSKs were fine you would already use PSKs and not have all this complicated public key dance at all.
In reality if there's any problem you have to throw WireGuard itself away. So the hope is maybe all these primitives are fine. And that hope will seem 100% on the money right up until it isn't. We will see then, I think, valuable character information about its designers and key proponents, in light of how they react to that particular lesson, for example in helping people migrate off their now fatally damaged baby.
The lesson learned wasn't "don't" it was that "more is always better" is wrong, we didn't need fifteen mediocre symmetric block ciphers without much cryptanalytic research behind them in TLS. But zero agility _definitely_ hasn't proven itself to be the right choice here either, it's just less work to implement.