Verify Wireguard interface MTU ... if it's not 1500 (and I'd expect to see lower than that by default), try to set it at 1500 bytes (wireguard would have to fragment large packets and reassemble them on the other end ... which means added processing overhead and I'm not sure if wireguard supports that).
Other thing is to verify that camera video streams are unicast. If they are broadcast or multicast, then you might have to look into some advanced routing or proxy setup.