How do I set up Tailscale on a VPS and connect from my Mac

Minimal steps:
Install + login on the VPS
curl -fsSL https://tailscale.com/install.sh | sh
sudo tailscale up
Install + login on your Mac
Use the Tailscale app and sign in to the same tailnet.
Enable MagicDNS (recommended)
In the Tailscale admin console, enable MagicDNS so the VPS has a stable name.
Use the tailnet hostname
SSH: ssh user@your-vps.tailnet-xxxx.ts.net
Gateway WS: ws://your-vps.tailnet-xxxx.ts.net:18789
If you want the Control UI without SSH, use Tailscale Serve on the VPS:
openclaw gateway --tailscale serve
This keeps the gateway bound to loopback and exposes HTTPS via Tailscale. See Tailscale.