Please provide your firewall export. Pretty sure you missed something.
On firewall problems, you need log the accept or drop rules that causes you problems.
Ideally refine a copy of the rule to make sure it catches only traffic you searching for (else Log becomes too big).
You might need to add for this input or output i/f, traffic type, source or dest IP address etc.
PS: Your input accept establish is needed at least for LAN side as it is needed for DHCP requests, DNS lookups, NTP etc.
If you disable this rule and then there is a drop all rule at the end you will for sure break something.
So I can reproduce this particular issue with almost every rule disabled, so here's what's left:
/ip firewall filter
add action=accept chain=input comment="defconf: accept established,related" connection-state=established,related
add action=accept chain=input comment=wireguard dst-port=51820 protocol=udp src-address=192.241.191.219
add action=drop chain=input comment="defconf: drop all not coming from LAN (e.g. WAN)" in-interface-list=!LAN log=yes log-prefix="[DROP NOT FROM LAN] "
add action=drop chain=forward comment="defconf: drop all from WAN not DSTNATed" connection-nat-state=!dstnat connection-state=new in-interface-list=WAN log=yes log-prefix="[DROP WAN NO DSTNAT] "
As soon as I disable the first rule in the script above, it stops allowing connections from the remote wireguard endpoint into the LAN. Enable it, it starts allowing them again.