Conversely Peer Relays are built on top of the shoulders of DERP. For example, they don't need to do peer discovery set connections up end to end - instead connections are brokered via our DERP fleet and then in a sense "upgraded" to an available Peer Relay or Direct connection. Because of that they're super lightweight and much easier to deploy + manage. And, they scale horizontally so you can deploy many peer relays across your network, and they're resilient to downtime (we'll just fall back to DERP).
The issue I have is I’m trying to connect two devices where one is behind a CGNAT that always causes the connection to be relayed even though the other one is not behind a cgnat with proper port forwarding. Would a peer relay solve this but is it like a DERp where I have to host it on a VPS separate from my existing two networks or is this something different where I can host the peer relay on the network not behind a CGNAT and somehow it will link the two networks through it?