Headscale is essentially a self-hosted, open-source alternative to Tailscale’s control server, enabling creation of a private WireGuard-based mesh VPN network. It lets you use Tailscale clients while running your own control server, focusing on secure device-to-device connections without exposing open ports. It requires a server with a public IP for the control server but does not natively manage reverse proxy or authentication for web services.

Pangolin is a more complete self-hosted solution built on WireGuard and Traefik, combining VPN tunneling with a modular reverse proxy and authentication management. It provides centralized management with role-based access control, 2-factor authentication, automated SSL via Let’s Encrypt, and can expose multiple private networks or services through secure tunnels without needing to open firewall ports. It includes a web UI and plugins for security features like WAF, API, and OAuth2/OIDC identity providers.