Exchange your keys ahead of time, preferably offline, and just run wireguard yourself. You may need a service discovery solution depending on your networking situation.
You mean... like tailscale does? (e.g. They have devices registered with a name and you can access them. They're all given static IPs so an internal DNS server could simply resolve their names... kind of like service discovery)
Right and Tailscale is a fine product for a variety of cases but there are cases where TailScale may not be a fit for you either due to the gSuite Integration, different privacy constraints or just not wanting to trust someone else with your vpn.