This post overviews several self-hostable management systems that enable one to configure multiple clients and tunnels via wireguard. It gives a nice comparison between them, I learned a bit about how they compare and overlap.
This is a good article but I really would like to see a fully open source app with a GPL, MIT, or similar license. I am intrigued by Slack's Nebula. It uses the noise protocol in a way similar to WireGuard.