So I guess we (and a lot of other people) have had the same problem, which is managing your agents on the go. I decided to build a plugin[1] for my terminal multiplexer (herdr) to access the sessions via PWA served through a tailnet.

[1] https://github.com/AltanS/collie

check out tsnet if you are building on tailscale anyways. your app can then be a tailnet node that can read tailnet WhoIs data and have access controlled via tailnet ACL