I cannot answer for GL iNet, but I am running 3 cloud VPS as Wireguard VPNs for friends and family, that are not behind a NAT (they all have real IPv4 addresses) and I have turned off PersistentKeepalive on all of them months ago, without any issues, as I don’t want any extra chatter giving away what they are doing. I do run PersistentKeepalive on the client side as most of the time my clients are behind a NAT.