How to join a worker which do not have public ip to 3 mater cluster with embed etcd and public ip

[ashesofdream]

i have check https://docs.k3s.io/networking/distributed-multicloud?_highlight=node&_highlight=external&_highlight=ip#embedded-k3s-multicloud-solution.But it seems that if i use tailscale, embed etcd cannnot be use ? Is a better way to do this ?