Tailscale Operator for Kubernetes sounds like it'd fit your second bullet point. It's has a really good experience. I've only used for my person homelab but I've been more than impressed by it.
It could however I specified mDNS so other developers won't be required to use tailscale (or to run a dns server)
It could however I specified mDNS so other developers won't be required to use tailscale (or to run a dns server)