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This is a thing in Netmaker, another WireGuard server that is being built by a YC startup: https://github.com/gravitl/netmaker
Have you taken a look at Nebula [0]? Might fit your needs. It also uses the Noise Protocol Framework but adds the bells and whistles on top needed to synthesize an overlay network like you want. MIT licensed too fwiw, full self hosting. Worth a look at any rate, WireGuard is much lower level though I'm sure it could be built upon for the same purpose.
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0: https://github.com/slackhq/nebula