I haven't tried setting up Wireguard manually but just had a scroll through this page:
https://www.wireguard.com/quickstart/In comparison here's the Tailscale setup instructions: https://tailscale.com/download/linux. If you're into running shell scripts that you pull with curl, you can set up Tailscale on a new node with:
curl -fsSL https://tailscale.com/install.sh | sh
sudo tailscale up
This will present you with a login link that you can open with a browser on another machine (I frequently install Tailscale on embedded systems), log in with your company SSO, and the node magically comes up. No server access required, no public/private keys need to get copied anywhere, it Just Works.
I will probably try playing with naked Wireguard at some point for my own home network (since the Tailscale client doesn't seem to handle two orgs at the same time very well).