Personally have good experience with github.com/Nyr/wireguard-install, there are other script that are available by searching “wireguard setup script github”.

Note: By default Wireguard config generated will route every bit of traffic through Wireguard (which will be slower and probably not wanted in this situation), to change that change AllowedIPs field in Wireguard config, lets say all your machines are assigned “1.2.3.xxx” as IP address, to only access other “1.2.3.xxx” IP through wireguard, change the config to “AllowedIPs = 1.2.3.0/24”