Yes - you run one or more Tailscale subnet routers instead of your existing concentrators, then slowly migrate to running Tailscale directly from new deployments at your convenience.
Running a subnet router is a matter of installing the Tailscale package on a server and authorizing it to route traffic to certain subnets over Tailscale.
Running a subnet router is a matter of installing the Tailscale package on a server and authorizing it to route traffic to certain subnets over Tailscale.