The other option from this great list https://github.com/anderspitman/awesome-tunneling which seems to meet both sets of goals is NetFoundry.
1. End-to-end encryption.
2. Performance and reliability. 100+ PoPs in all major clouds running their data plane routers if they host (still E2EE), or run routers anywhere if you self-host. Dynamic routing to find best paths across the routers.
I don't see any indication that NetFoundry zrok supports end-to-end encryption from the client to the web server. The default configuration definitely terminates SSL on NetFoundry's server, and I don't see any documentation for how to avoid that. There's a TCP tunneling mode, but servers that use this mode can only be accessed by clients that are themselves also connected to the NetFoundry VPN service, not by clients on the public web. What's needed is a TLS tunneling mode that figures out the correct target via SNI, and zrok doesn't seem to provide that.