Intelligent and dynamic overlay tunnel formation via automatic discovery of citrivity/SDWAN peer in the datapath in a pure plug and play environment with zero networking configuration

Described embodiments provide systems and methods of forming overlay tunnels for delivery of data between networked devices. A first intermediary device may transmit, responsive to a connection request from a client, a request having a source IP address corresponding to a first virtual IP address of the first device and a first payload including first security hash information to be processed by a second intermediary device. The first device may receive, from the second intermediary device, a response. The response may have a source IP address corresponding to the IP address of the server and a second payload including a virtual IP address of the second device, responsive to second security hash information corresponding to the first security hash information. The first device may establish an overlay tunnel using the first virtual IP address and the second virtual IP address for communicating data between the client and the server.