So, Zero Trust is this idea that you never trust and you always verify.
Cloudflare Tunnels, TailScale, and Ngrok are three different approaches to Zero Trust networking.
Cloudflare Tunnel is a reverse proxy. TailScale is more of a mesh-based VPN. Cloudflare Tunnel is an ingress as service, which means that it makes it really easy to spin up public URLs.
What you need depends on your use case.