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Wireguard

You mean Wireshark? It's possible. You might even capture the DHCP exchange.

The two best programs for the job are nmap and arp-scan.

Nmap is like ping on steroids. You can use it for network discovery, port scanning, fingerprinting, and basic pentesting. As long as the pi can talk to the computer, nmap will sniff it out.

ARP-scan works on the data link layer to identify hosts using ARP. It should be able to return the IP address of all ethernet devices even if they end up in different subnets. It took me a little over two minutes to scan a /16 subnet with one retry and 0.1 second timeout.

If you are really concerned about the pi's address, you should run a local DHCP server on the laptop. dnsmasq for Linux and Mac, but I have no idea what to use on Windows (other than a VM bridged to the ethernet interface).

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