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I came here with this exact problem.

Then I found this Reddit thread: https://www.reddit.com/r/OPNsenseFirewall/comments/rbttv3/allow_hosts_to_connect_to_tailscale_via_opnsense/

Which shows this IMGUR: https://imgur.com/a/sYYozao

Which basically says...
Go to Firewall > NAT > Outbound
- Use Hybrid outbound NAT rule generation
- Create a new rule
- Interface = TLSCL
- Source address = LAN Net
- Translation/target = TLSCL address

Then commit that and apply.

And now I can ping tailscale hosts from machines on my LAN that don't have tailscale!