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It's v20.1 now, but the issue still there. it makes my downstream routers are not able to communicate with upstream devices/internet thru IPv6. Any progress on this?

https://forum.opnsense.org/index.php?topic=7719.msg36060#msg36060

Try this
1. set your static IP in WAN.
2. Go to 'Interface' - "Point to Point" - "Device",  add new one with type "PPPoE" and link your physical interface which is linked to ISP device.

Check your 'Lifetime' setting at both end, default setting is 28800 seconds(8 hours) if you just leave it as is.

你这结构FW1就挂在FW2下的一个二级路由，直接路由不好吗？非要用IPSec