Well you have no firewall rules so all should be permitted.........
On R2 try adding
add chain=input action=accept comment="wg handshake" dst-port=13231 protocol=udp
FACEPALM, - we forgot routes
ON R1 Add
add dst-address=10.1.1.0/24 gateway=wireguard1 routing-table=main comment="route to remote subnet"
ON R2 add
add dst-address=10.2.1.0/24 gateway=wireguard2 routing-table=main comment="route to remote subnet"
Followed the above request config below: no handshake
R1
-------------------
# mar/20/2024 09:44:58 by RouterOS 7.8
# software id =
#
# model = L41G-2axD&FG621-EA
# serial number =
/interface lte
set [ find default-name=lte1 ] allow-roaming=no band=""
/interface wifiwave2
add
/interface ethernet
set [ find default-name=ether1 ] mac-address=MAC ADDRESS name=\
"ether1 - WAN"
set [ find default-name=ether2 ] mac-address=MAC ADDRESS
set [ find default-name=ether3 ] mac-address=MAC ADDRESS
set [ find default-name=ether4 ] mac-address=MAC ADDRESS
/interface wireguard
add listen-port=13231 mtu=1420 name=wireguard1
/ip pool
add name=dhcp_pool0 ranges=10.2.1.50-10.2.1.253
/ip dhcp-server
add address-pool=dhcp_pool0 interface=ether2 lease-time=1d name="LAN - DHCP"
/port
set 0 name=serial0
/interface wireguard peers
add allowed-address=0.0.0.0/0 endpoint-address=R2 PUBLIC IP endpoint-port=\
13231 interface=wireguard1 persistent-keepalive=20s public-key=\
"R2 PUBLIC KEY"
/ip address
add address=10.2.1.254/24 interface=ether2 network=10.2.1.0
add address=10.0.0.1/30 interface=wireguard1 network=10.0.0.0
/ip dhcp-client
add interface="ether1 - WAN"
/ip dhcp-server network
add address=10.2.1.0/24 dns-server=8.8.8.8 gateway=10.2.1.254
/ip dns
set allow-remote-requests=yes servers=10.1.1.254
/ip dns static
add address=UNIFI SERVER match-subdomain=yes name=unifi
add address=UNIFI SERVER match-subdomain=yes name=unifi.local
add address=UNIFI SERVER match-subdomain=yes name=unifi.localdomain
/ip firewall filter
add action=accept chain=input port=13231 protocol=udp
add action=accept chain=input comment="wg handshake" dst-port=13231 protocol=\
udp
/ip firewall nat
add action=masquerade chain=srcnat
add action=dst-nat chain=dstnat comment=\
"Forward UniFi Inform to Cloud Server" dst-port=8080 in-interface=ether2 \
protocol=tcp to-addresses=UNIFI SERVER to-ports=8080
add action=dst-nat chain=dstnat comment=\
"Forward UniFi Inform to Cloud Server" dst-port=8080 in-interface=ether2 \
protocol=tcp to-addresses=UNIFI SERVER to-ports=8080
add action=accept chain=srcnat dst-address=10.10.59.69 src-address=\
10.2.1.0/24
/ip route
add comment="route to remote subnet" disabled=no dst-address=10.1.1.0/24 \
gateway=wireguard1 routing-table=main suppress-hw-offload=no
/system clock
set time-zone-name=Europe/London
/system identity
set name=
-------------------
R2
-------------------
# mar/20/2024 09:38:41 by RouterOS 7.8
# software id =
#
# model = L41G-2axD&FG621-EA
# serial number =
/interface lte
set [ find default-name=lte1 ] allow-roaming=no band=""
/interface ethernet
set [ find default-name=ether1 ] name="ether1 - WAN"
/interface wireguard
add listen-port=13231 mtu=1420 name=wireguard1
/ip pool
add name=dhcp_pool0 ranges=10.1.1.50-10.1.1.254
/ip dhcp-server
add address-pool=dhcp_pool0 interface=ether2 lease-time=1d name="LAN - DHCP"
/port
set 0 name=serial0
/interface wireguard peers
add allowed-address=0.0.0.0/0 interface=wireguard1 persistent-keepalive=25s \
public-key="R1 PUBLIC KEY"
/ip address
add address=10.1.1.254/24 interface=ether2 network=10.1.1.0
add address=10.0.0.2/30 interface=wireguard1 network=10.0.0.0
/ip dhcp-client
add interface="ether1 - WAN"
/ip dhcp-server network
add address=10.1.1.0/24 dns-server=10.1.1.254,127.4.0.144 gateway=10.1.1.254
/ip dns
set allow-remote-requests=yes servers=10.1.1.254
/ip dns static
add address=UNIFI SERVER match-subdomain=yes name=unifi
add address=UNIFI SERVER match-subdomain=yes name=unifi.local
add address=UNIFI SERVER match-subdomain=yes name=unifi.localdomain
/ip firewall filter
add action=accept chain=input port=13231 protocol=udp
add action=accept chain=input comment="wg handshake" dst-port=13231 protocol=\
udp
/ip firewall nat
add action=masquerade chain=srcnat
add action=dst-nat chain=dstnat comment=\
"Forward UniFi Inform to Cloud Server" dst-port=8080 in-interface=ether2 \
protocol=tcp to-addresses=UNIFI SERVER to-ports=8080
add action=dst-nat chain=dstnat comment=\
"Forward UniFi Inform to Cloud Server" dst-port=8080 in-interface=ether2 \
protocol=tcp to-addresses=UNIFI SERVER to-ports=8080
add action=accept chain=srcnat dst-address=10.10.59.69 src-address=\
10.1.1.0/24
/ip route
add comment="route to remote subnet" disabled=no dst-address=10.2.1.0/24 \
gateway=wireguard1 routing-table=main suppress-hw-offload=no
/system clock
set time-zone-name=Europe/London
/system identity
set name=
-------------------