I would think of NetBird as a wrapper around WireGuard.
NetBird adds the ability to easily provision peers, add firewall rules (based on tags) - and add users to the same control-plane.
It also does NAT transversial - so you do not need to manually open ports in your router.
I can recommed looking at Why Wireguard with NetBird? - NetBird Docs
NOTE: I am in no way affiliated with NetBird… I just happen to like their product, and felt it was well suited for HomeAssistant.
I use it to have a private mesh-network between our home devices (including phones) - to always have secure access to Home Assistant outside our home. 