That's the neat part.
Tailscale is wireguard under the hood.
So yeah, install it on all the devices you want to connect up. And it's as if you brought them all into the same room for a LAN party.
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So on truenas scale and on the phone? Anything needs to be done on the router?
It will work with the local ip of the truenas?
Looks like Tailscale had a guide specifically for that
Tailscale
Access TrueNAS SCALE from anywhere · Tailscale Docs
Learn how to configure the Tailscale client on a TrueNAS SCALE server and securely connect multiple TrueNAS SCALE servers for ZFS replication.
Tailscale will make it's own IP for the truenas and your phone, and that's the network they'll talk over.