I decided to experiment a bit with Headscale when the wg-easy v15 update broke my chained VPN setup. Got it all set up with Headplane for a UI, worked amazingly, until I learned I was supposed to set it all up on a VPS instead and couldn't actually access it if I wasn't initially on my home network, oops.
I might play around with it again down the road with a cheap VPS, didn't take long to get it going, but realistically my setup's access is 95% me and 5% my wife so Wireguard works fine (reverted back to wg-easy v14 until v15 allows disabling ipv6 though, since that seemed to be what was causing the issues I've been seeing).

Well a VPS or an exposed service, but I feel like the latter ends up somewhat defeating the purpose anyway.
When running locally (not exposed), it worked great until I tried to make the initial connection from mobile data - can't establish a connection to headscale if it can't reach it in the first place. Unless I'm mistaken, the headscale service needs to be publicly accessible in some way.