Not that my WireGuard connection needs nat as it terminates on my router. And I use private ip ranges as I want to be sure that if WireGuard drops out for some reason traffic doesn’t route over the unencrypted path. Defence in depth.
I do disagree with GP's assertion that Claude can never make something comparable to Tailscale, but that's just because I believe I (and probably many others here) could probably prompt that, not because I think just anyone could. LLMs can one-shot a fair few things based on unskilled prompts, but I don't believe this is one of them yet.
Wireguard is the building block for higher level tools like Tailscale to build on.