Guest mode
You are confusing “Guesting” with “Server Transfers”. What you are describing is “Server Transfers” and the issue with full realms.
“Guesting” is a feature that was never put in game yet. This allows you to play on the other servers with your friends without doing a server transfer. While you are a guest you would be locked out from joining WvW on that server because it is not your home server.
I am guessing when they do make this possible, if ever, it would be as simple as logging in to your own server with the character you want. Then just having a change server guest option menu to pick any other server you want to visit.