Have you considered non-Vanguard ETFs for your Vanguard account? Any ETF costs $0 to buy, $0 to sell at Vanguard.
For example, ITOT tracks the "S&P Composite" index under the "iShares" brand for an 0.03% expense ratio.
Meanwhile VTI tracks the "CRSP" index as a "Vanguard" fund that costs an 0.03% expense ratio.
Really, both own the largest ~3500 stocks, and should have indistinguishable performance. But the IRS sees two different fund names, tracking two different indexes - they're different.
If you hold VXUS at Betterment, you could hold IXUS at Vanguard (another iShares ETF). In general, iShares has a wide variety of low-cost passive index funds. So they could make an excellent alternative that wouldn't trip over the wash sale rules (which require assets be "substantially identical").
One note, though: over time, stocks grow. Enough years pass, and tax loss harvesting becomes less and less useful for the majority of your investments. At that point, Betterment isn't giving you the same benefit - but they still extract the same fees. So another approach could be moving everything to Vanguard to save the amount of Betterment's fee. Or you could go to Schwab, which also features $0/trade on ETFs.