Subnet routers: how do they work?
tailscale.com
tailscale.com
If so, what has worked for you?
(Edited to replace point-to-point with site-to-site.)
https://tailscale.com/compare/wireguard
Disclaimers: I am an investor in Tailscale, user, and worked with the team at Google.
Tailscale is a solution, a very good one in my experience.