This might be useful to connect e.g. Windows XP to ZeroTier network or other machines which you can't or don't want to install ZeroTier client to.
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Create ZeroTier network in control panel and join it on your host 
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Allow Ethernet bridging for your host in control panel  
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In VM network settings, add second network adapter: bridge. Connect it to your ZeroTier network interface (e.g. zt0) 
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In your VM, configure network manually (e.g. if your ZeroTier network is 10.147.17.0/24, set IP in that range)
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Done! It won't show up in Control panel, but now your VM is part of your ZeroTier network. 
This could also be done with routing, but in this case bridging is much easier.