Great article! I haven't started using tailscale for ROS specific applications quite yet, but I've been using it for a a bunch of other applications for a few months now with a fleet of robots and its been a game changer for my workflow - especially for remote subnet access.
Recently, I've been interested in exploring some alternatives like husarnet (especially when they have support for ACLs), zerotier (for their approach as an ephemeral switch concept), and netmaker (for the kernel wiregaurd implementation).
I've messed with some of them already and I gotta say, the ease of use with tailscale is hard to beat - like you were saying it kinda just works out the box lol. That said, very excited to see how the others compare feature and performance wise!