Device certificates

Hi community

I am wondering if it is possible to use zero trust and device whitelists or certificates to authenticate against zero trust.
I have a tunnel running to my NAS and Home Automation System. But I don‘t trust their login architecture.
What I want to achieve is, that only my iphone and my mac as well as my ipad get routed to the tunnel from cloudflare.
Is this anyhow possible?

I tried the warp client, but this is draining my battery I had the feeling.
I also tried a serial number allowlist which was not working for my mac and I did not know what to enter for my ios devices.

BR Raffael