A recent discourse post is highly relevant for this question. They happened to be using satellite internet and wanted to make sure local traffic was secure without having to rendezvous off the local network (sound familiar?!? 
). See this discourse post for the whole thread.
The most relevant bit to me was the basic design:
So with this setup, they can access all their local network machine via OpenZiti as well and not have to pay the latency price of leaving the home network (which is probably way higher with satellite than either you or I experience). Also, zero trust extends even onto your home network imo! Well, it should anyway, particularly if you're adding any IoT type devices. So yes, what you're planning makes perfect sense indeed.
I'll give this a run now and make sure I can connect two routers together using nothing but docker/compose! I'll post back in a bit.