There might be a misunderstanding of what Tailscale offers here. There is no "VPN" in the classic "virtual network" way. With Tailscale, you can - as with Iroh, IIUC - connect arbitrary nodes to each other, where a node can be a device or an application (via tsnet). All nodes get CGNAT IPs and an addressable hostname, so there is one giant "network" of all your nodes with automatic DNS resolution baked in.