I've used ZeroTier in the past and I don't recall a feature similar to this being part of their offering. What I do remember is home brewed crypto, incredibly poor single threaded performance, and a glacial development pace. Any thread about Tailscale inevitably brings up alternatives, but having tried many of them in the past, I've yet to find one that actually competes across all the features and performance. The comparisons to other solutions tend to give me "why do you need Dropbox when FTP exists?" vibes.
ZeroTier supports relaying natively. You create a network with three nodes, the "client" (on the internet), the "gateway" (public subnet) and the "server" (private subnet). ZeroTier will automatically route traffic between the client and server through your gateway with no configuration.
It's not clear to me if it's different than Zerotier's routing design or not. Partly because ZT has their "moons" and custom network controllers. Googling about it does seem to indicate ZT doesn't support peers routing traffic directly, but you can setup your own DERP style TCP relays.
To me Tailscale is just a nicer version of Zerotier but not in different genre like ftp vs Dropbox. From a general non-power users perspective they operate almost identically.