Yes, I tried WireGuard on Mikrotik’s RouterOS when it was initially released but it had an issue where the endpoint-address couldn’t be configured as hostname and had to be specified via IP. I’m not sure if that has been resolved yet.

Are you looking to use the WireGuard instance on the Mikrotik router as the relay server for other peers or do you just want to connect to it from other peers? For using it as relay server you would need to have the router accessible from the public internet.

Or do you want it as a peer through which you can access the local network? That would require setting the correct allowed-address and some firewall rules as described in the wiki. The Mikrotik forums usually have some useful examples of working setups and even setup instructions.