Likely? See relevant tutorial: Create your Intranet with a VPN and your own DNS, with YunoHost, Adguard, and Headscale
that seems a much more complicated version e.e
maybe the main difference, between what i thought and what that tutorial is for, is ‘‘are .local domains fine via normal vpn?’’
The previously mentioned tutorial seems to be exactly what you’re looking for, but instead of using .local you should use your tailnet domain, whichever you choose, in any case that’s not publicly accesible, the devices in the tailnet are the only ones able to connect.
(Writer of said tutorial here
)
If you want to keep using .local domain, i.e. with mDNS protocol, you cannot use WireGuard-based VPNs like Tailscale/Headscale as they do not handle multicast. You would need to add a mDNS reflector/repeater/whatever-it’s-called on the server hosting the VPN. However it should work out-of-the-box with ZeroTier.
There is no tutorial for YunoHost and Zerotier though, but I found it pretty straightforward.