Love headscale, we just took it to production and it’s been great
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We are still running the old headscale, because we have some integrations that will need to be ported to the new control plane. According to "headscale node list | wc" we have ~250 nodes, most of them are servers.
One thing I really don't love about tailscale some of the magic it does with the routing tables and adding firewall rules, but it has mostly not been an issue. Tailscale has worked really quite well.