I can only recommend giving headscale a try. It's free, works extremely well, and can be used with the official Tailscale clients. Was super easy to set up. https://headscale.net/stable/
Could you give a brief description of your use case? I'm looking at all the tailscale buzzwords on their site, but am not really understanding what I would use this for in my home setup
It has a pretty good ACL functionality, you can configure which hosts with certain tag can access certain routes.