Wireguard and apps based on it (like Tailscale) don't respond at all unless the data is signed with the key of a configured peer (or with Tailscale, a system on your tailnet that passes the ACL). It's literally impossible for an outsider/attacker to detect with a port scan since it just ignores unauthenticated packets.
The Wireguard codebase is also extremely small. The core Wireguard implementation (the version in the Linux kernel) is around 5,000 lines long, so an experienced developer can read through all the code if they dedicate a day or two to it, and understand how it works.
For comparison, OpenVPN is around 70,000 lines of code and OpenSSH is around 150,000 lines of code. There's a huge number of features in SSH!