So 2 use-cases within grasp:

Firms could replace their VPNs for remote work with mycoria and have better security and control.

I could also set this up for my home network and access my (for example) NAS securely.

For the use-case "I want to access a publicly available page anonymously", we still need a VPN / TOR.

Yes, that is a good distinction!

To be sure I understand, in that first usecases where a company is replacing their VPN with Mycoria, would access controls/restricting access to devices is all firewall based? That technically there's a network path to all the other devices on Mycoria just limited by firewall rules?

What comes to mind to me analogously (more from my experiences than anything) is like a global tailnet that leans on firewalls to segment things?

A cross between tor and a vpn is quite appropriate too

Yes, this is correct.

Mycoria has in integrated firewall for this, just in case that information got lost somewhere.

This also means that devices of the company will help other devices of the company to reach their destination, adding to resilience in outages and emergencies.

You can of course build bridges between these networks. This definitely something that is planned.