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.
This is all pretty new though. And if another one came out it would be less mature than Headscale.
For what it's worth I've been using Tailscale for a while now and it's fantastic!