If you're interested in self-hosting your orchestration server, you can look into Netbird. It's a very similar tool, but has the server open sourced as well. So you have a self-hosted control server with a nice GUI and all the features the paid version does.
I've been slowly moving everything over from Tailscale to Netbird and aside from some shenanigans with Tailscale taking over the entire CGNAT route, it works wonderfully!
Tailscale is still running for now, but I'm getting closer and closer to decommissioning it and switching entirely to Netbird.