Setup Wireguard network tunnel

We want to setup VPN access to our internal Hetzner servers from our 2 office sites and then with the wireguard client on laptops.

Within Hetzner we have a private internal network which is shared between physical hardware servers and cloud virtual machines. One of the servers in there is a cloud server running PfSensse. We want this server to act as our VPN server and for the office location (which has TP-Link ER605 routers with Wireguard and OpenVPN client support) we want them to connect to the VPN and the remote offices to be able to access the private network at Hetzner.

It would be great if the remote offices could also see devices on each others networks and for the Hetzner servers to see devices on the office networks too.

Final note, less important, we would like for remote laptops / computers to be able to connect to the VPN and access the cloud network and the office network devices.

Setting up the VPN and static routes is hopefully easy for somebody who knows what they are doing. If this is you, please get in touch. We're looking to set this up as soon as possible.