Do you need multiple wireguard "servers" on a home network to access multiple machines?

Hi all,

I am confused regarding the following. There are 2 servers on my home network each running services I want to access remotely

Server 1: HAS, Nextcloud
Server 2: Immich, Plex

Do I need to install and setup wireguard on both Server 1 and Server 2 or is it enough to install it on Server 1 to also be able to access the services on Server 2 through there?

I have been looking at various guides and instructions but I cant seem to find the answer to this question.

Any help is appreciated