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I collected a number of howtos, documents, and many, many posts on this forum into a short guide. It describes getting an OPNsense IPsec VPN server to work with iOS and macOS clients.

https://github.com/thomergil/opnsense-ipsec-vpn

Obviously happy to correct any errors/mistakes anyone finds.

Took me a while, also. It's the white plus icon (in the orange square) on the Phase 1 row that you added.