Looking for minimal/non configured VPN options

I have a non-techy friend who lives in another country, and we’d like to set up a VPN service to each other’s routers using RPI serversUnfortunately I’m the only one who is willing and knowledgable to set up the servers. Is there any solution that I can set up here, then mail a PI to plug in and automatically connect to a network? I’d like to avoid their involvement as much as possible.

The best you could do is configure a wireguard profile, have them install wireguard and then import the profile.

Would using tailscale and configuring a raspberry pi to be an exit node work?

It wouldn’t need to be an exit node, it would be enough for them to be in the same tailnet if you don’t need to send all your internet data through the other person’s connection.