As other have pointed out, Tailscale and Netbird are much more than wrappers around Wireguard. ZeroTier does not use Wireguard and they have their own lightweight tunnels, which in their recent multi-threaded implementations are more performant but not as fast as Wireguard in my testing.
I don't think there's a direct way to integrate any of them into existing mesh networks, but I could be wrong.
Long-time ZeroTier user here. Recently switched to NetBird (self-hosted on a Hetzner VPS) and it’s been seamless so far. DNS functionality is excellent (something ZeroTier lacked), and the access-control model is very well designed. It’s easy to understand what’s going on and to grant one-off access when needed. Only real and very minor gripe is the Android app: I wish it were on F-Droid and a bit more robust, as it sometimes drops when roaming. Nevertheless, congratulations on a fabulous piece of software! I hope it keeps improving :)