VPN tunnel that has... Approval? I don't know what to call it.

I doubt this is a thing, but is there a VPN tunnel like headscale//tailscale that allows a person to approve a client connection from the app or elsewhere for another device without it? I'm asking because I want to use devices like tvs with jellyfin but behind tailscale as well. Is this a thing? I don't know exactly how the app works, so don't crucify me lol.