[buserror]

Well apart from tinc, which has been doing that for decades [0] :-) -- and has been doing that since Linux was something that still ran on 8MB of RAM.

[0]: https://www.tinc-vpn.org/

[hexmiles]

I also did use tinc in the past, and while it was very robust it was not as reliable/fast on roaming as wireguard, BUT to be fair it may have been user error.

[remram]

tinc can also automatically select routes through the mesh, and it supports layer 2 (tap) VPN too. Wireguard is a long way from this feature set unfortunately.