Wireguard over TCP tunnel at 443 port, blocked ports bypassing, solution for OpenWRT

I'm facing a problem - I would like to connect many embedded devices with OpenWRT to my Wireguard server, but all the ports except 80, 443 and some others are blocked. Moreover only TCP is allowed in network. It seems like I need to tunnel WireGuard which is UDP, into TCP. On my server I would like to use SSHL (port sharing) service to run HTTPS server and tunnel for WireGuard simultaneously on 443 (or other allowed by firewall) port. I would like to have multiuser capable tunnel, so I suspect quick socat hacks will not work for more clients. - I tried wireguard-proxy, it works perfectly with port sharing over SSLH but it is written in Rust, and I cant deploy it on OpenWRT (I tried, and got compiling errors). -I tested also udp2raw, and it also works well on dedicated port, but I can't connect to it when using SSLH port multiplexer. I'm looking for some tunneling software written in C/C++ that I can cross-compile in OpenWRT build system, and use with my modded network devices.