Yes you are on the right track! Because if you’ve had success with zerotier vl1 which is libp2p then you aren’t worried about that you need them (your nodes) to know and communicate as trusted peers. At times a peer can act as a proxy of sorts and switch roles. Like superseed or super-peer ?
Anyway some peer can get updated and pass the word. The main thing is that you need to make sure you have them iterated and defined clearly so little or no arbitrary actions requiring logic.