Our ASUS router is a RT-AX3000, by no means high end, and its native software supports Wireguard & OpenVPN.
If you’re a Safeshark user, it’d be super simple to set up Wireguard on this router. SS is the default service that pops up on the VPN Fusion page on it
I’m a ProtonVPN subscriber and Wireguard is easy to set up on the router with that, but does require a few more steps on the ProtonVPN account site which are kind of clunky the first time or two that you go through the procedure.