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A simple alternative could be to add this to your ~/.bashrc file.
(re-login required, or source ~/.bashrc)
# Starting Tailscale daemon automatically if not running...
RUNNING=`ps aux | grep tailscaled | grep -v grep`
if [ -z "$RUNNING" ]; then
sudo tailscaled > /dev/null 2>&1 &
disown
fi
I also use this approach for starting Docker (without Docker-Desktop).
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