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Differences between WireGuard, TailScale and HeadScale?

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I'm familiar with WireGuard, but I haven't found a comparison to the three alternatives what their differences in features/functions are. I'm new to anything later than WG.

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Wireguard is a VPN protocol.

Tailscale creates a VPN mesh of devices coordinating the mesh via the Tailscale software, using Wireguard. This tells everything where everything else is and sets rules as to what can talk to what.

Headscale is an opensource, self hostable version of the Tailscale software.

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To add, Head/Tailscale run on top of Wireguard, they're just orchestration frameworks in essence. More info here: https://tailscale.com/compare/wireguard

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So essentially a router/DHCP server/network switch software for vpn tunneling?

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In a nutshell:
Wireguard is a point to point vpn. Usually requires open ports.

Tailscale uses a 3rd server to broker the connection, allowing for no open ports.

Headscale is you running that 3rd server yourself

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Also there's Netmaker and Netbird. Fully open source but for the moment somewhat less capable alternatives to Tailscale and Headscale, can be self service or there's a pretty generous free tier in their SaaS versions.