Just as an update for the community, Nomad On Demand runners for Waypoint are now available.
Here are some useful links that might help you get started.
Using Waypoint Runners to Enable GitOps Workflows blog
Waypoint Runners Documentation
Video explaining Waypoint GitOps architecture
Waypoint Nomad On Demand Runner PR
Also, worth mentioning is our upcoming HashiTalks Deploy event which has some relevant sessions.