I still install Zerotier and Tailscale both on new remote machines just for redundancy, but yeah Tailscale seems to be better at NAT traversal (establishing direct tunnels through NAT). Both can be problematic depending on your router though. pfsense in particular is known to have a "hard NAT" by default that makes it difficult/slow for Tailscale to establish direct tunnels. It can be worked around but you have to know to do it (Tailscale has a support document about pfsense setup) and it can be tricky to get it right. The good news is you can install Tailscale directly on a pfsense/opnsense router instead of on the machines behind the router, and I think that may avoid some of the issues.
If you are like me and you hate having to connect a VPN client to access
Blue Iris, then Cloudflare DNS is also a great option because it is cheap, around $10 a year, and you can use free Cloudflare Tunnels to host your Blue Iris servers on a public domain whether you have your own public IP address or not.