Headwire
Statically configures WireGuard peers into a mesh with NAT traversal, upgrading each connection from a DERP relay to a direct path when one is found.
Headwire statically configures WireGuard peers with support for NAT traversal using DERP relays, built on Tailscale's open-source data-plane libraries. Initial connections happen over a DERP relay and are upgraded to a direct peer-to-peer path automatically when one becomes reachable, while ordinary WireGuard peers with a fixed endpoint keep working alongside Headwire's discovery-capable peers.
A Headwire peer is configured with a WireGuard public key plus a discovery key and a home DERP region in its config file; the project describes running one's own DERP servers, noting that Tailscale also runs free rate-limited relays for its Tailcat network. It installs as a release binary or a systemd service, includes a macOS app, and offers a ping-style CLI that reports whether a connection is via relay or direct.
It is written in Go, released under the BSD-3-Clause license, and described as experimental.