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tailcat
Tailcat is a remix of Tailscale open source pieces to act like netcat, but over Tailscale's data plane, without Tailscale's control plane. Tailscale's data plane (magicsock, internally) gives you point-to-point WireGuard®-encrypted tunnels between two machines with DERP as the NAT-hole-punching communication side channel and the ultimate relay-of-last-resort if NAT traversal fails. Instead of using the Tailscale control plane, all tailcat connection metadata is exchanged out of band, however you want.
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