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WorkOS
The modern identity platform for B2B SaaS. The APIs are flexible and easy-to-use, supporting authentication, user identity, and complex enterprise features like SSO and SCIM provisioning.
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Netmaker
Netmaker makes networks with WireGuard. Netmaker automates fast, secure, and distributed virtual networks.
I've tried wireproxy, however the proxy wireguard client always has to communicate thru a peer with an endpoint, adding latency. Thus even less efficient than Tailscale.
Another one which looks promising is wgsd, a dns like plugin to discover peer's endpoints that sit behind a NAT. For me this is part of the solution, however not a complete one, as my client devices are also on Android and Android TV.
I have built https://b-m-f.github.io/WirtBot/ for this use case.
I've heard good things about Netmaker. It's in active development and they're regularly improving it.