Failover for Wireguard VPN

I'm setting up failover for multiple WireGuard VPN peers that serve as gateways, while also having failover at the router level. Currently, I have mwan3 configured to select the appropriate interface for routing traffic to my VPN peers. However, I need a solution that can automatically switch between different VPN peers if one becomes unavailable.

Ideally, I'd like to run two instances of mwan3, but based on how mwan3 operates, this might not be feasible.

Are there any alternative tools or solutions that can handle failing over the default route when a WireGuard VPN peer goes down?

See: https://github.com/egc112/OpenWRT-egc-add-on/tree/main/wireguard-watchdog
A simple script, if one WG tunnel fails the next one is automatically started.