Tailscale must be properly configured on your client machine to access machines/ports on their respective private Tailscale network(s), setup of which typically requires administrative intervention. Without bridging to a public network, services exposed to the Tailscale network are not accessible publicly.
Tailscale does offer user-mode clients so it can be used similarly to SSH by those allowed to connect (I don't know how difficult user-mode Tailscale is without admin setup on various operating systems).