Can I use ZeroTier to have a secure Minecraft server that doesn't need every player to have the app?

Been searching far and wide for a method where I can host a Minecraft server and have my players be able to connect to it without a seperate app, and have it secure? Tried things like Tailscale features. I've been using playit.gg for a while but I'd rather host the system on my server instead of it routing all traffic through NY for the sake of lag. I heard ZeroTier was different to Tailscale, does anyone have any ideas? TIA