I don't use it with wireguard, but Zerotier works just fine on Android.

As does tailscale!

Or headscale:

https://headscale.net/stable/

This is my recommendation for anyone that wants full control.

I use Tailscale, purely out of laziness and a willingness to trust them today, but I'd move to head scale if either of those caveats changed.

My only issue with wireguard/tailscale is that somehow my work IT has managed to make it unusable on our wifi. It's really annoying. I'm pretty sure it's a misconfiguration on their end but they don't have any reason to care.

OpenVPN does seem to always work everywhere (presumably because outside contractors and support personnel use OpenVPN when onsite so it's a squeaky wheel that matters) so I've moved to that instead. Beyond that I can't figure out what the hell is the problem and the way IT works, they have no reason to fix it. I did get them to somewhat work on it by reporting Google VPN as randomly failing, but they just fixed Google VPN and nothing more than that. So anyway wireguard is great until you encounter bullshit corporate firewalls.