WireGuard by itself is not a stealth VPN, but the things that make a VPN "stealthy" are all things you'd layer on top of a WireGuard design, not thread through the middle of it. A datagram-based protocol can run under any obscured transport.
We did this at Fly.io when we discovered that, for one reason or another, 5% of our users simply couldn't reliably use UDP. It was a one-day project to run it under WebSockets instead, and that was before coding agents.