Seems interesting, but I think it needs some use case examples to show how it differentiates from a tunnel, VPN etc.
As an example, would it be the right tool to access IoT data from small sensors (and actuators, therefore two ways) in a private LAN from external machines, including mobile, on untrusted public networks?
Or what if I wanted on all my laptops a shared directory that replicated on all machines what is being written on one, no matter which networks they're connected to, NAT etc.
etc...
I said somewhere else in the comments I was working with a fella and he shared his vault instance with me via ngrok (zrok didn't exist at the time). So ngrok/zrok are great, dev-focused tools (p2p). (zrok might grow past being a great dev/p2p-focused tool too)
For what you're describing, the OpenZiti overlay might be more your ball of wax. It's a bit more complex than just "share" this and "access" that so there's more to learn (which is why ngrok/zrok are so nice, they are *EASY* to use) but you might find value in the tech that is under zrok, that OpenZiti overlay
