If you port forwarded incoming UDP port 41641 to your DVR using the built-in Tailscale, it doesn't work.
You have to port forward it to the device running Channels DVR and use Tailscale on that device.
My devices are using a relay. What can I do to help them connect peer-to-peer?
If two of your devices are on difficult networks, allowing connections to UDP port 41641 on one of them may help Tailscale make a peer-to-peer connection, rather than falling back to a relay.