Beyondcorp was mainly created to advocate cloud services and to minimise the (legit) worry off CIOs to see all their data in services connected to the entire internet.

I still think VPN has a good usecase. It's great extra layer of defense and also a nice way to disclose access to devices at different locations.

I don't use tailscale as it's too commercial for me but I use another VPN mesh service. Of course you still need to secure your endpoints properly.