My personal choice for something like this would be Tailscale/Headscale. Runs over Wireguard and handles a ton of niceties like DNS for connected nodes automatically.
Part of the fun of TPL isn't just that your computer can talk to another computer, it's that you have your own setup configured form the ground up so your /24 can talk to other /24s on TPL. I 100% understand some people will not enjoy that and won't find it fun, and that is ok. Some people do enjoy learning new things about setting up infrastructure, and this scratches some of that itch.
I personally ran into the legacy setup issue for running vanilla Wireguard for my setup before Tailscale is a thing and have to manually manage keys, routing and DNS.
But one thing Tailscale has that annoyed me is that they are using 100.64 CGNAT addresses (which is more RFC-compliant) but conflicts with one of my cloud service provider's pre-configured DNS, NTP and software mirrors setup. Using it became more or less messy for this reason.
I can somehow consider migrating now.