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Is it possible to identify wireguard traffic that isn't on a common port?

Yes. Fixed packet headers, predictable packet sizes. I don't know what "a common port" means in relation to wg.

They mean UDP port 51820

Yeah. Tailscale uses 41641, and you can generally use whatever. I don't think there's any consensus, or majority.

51820 is the one they use in the docs, that's probably the most common one.