Cloudflare Tunnel publicly exposes your services, whereas Wireguard/Tailscale are VPNs.

Tailscale (but not Headscale) offers Funnel, which is a reverse proxy, but you cannot use it with your own domain.

Pangolin is the closest alternative to CF Tunnel, but self-hosted NetBird with reverse proxy functionality can also be used.

The intersection of people who can self host headscale or netbird and those who can not set up their own reverse proxy is probably the empty set.