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@Franco, sorry not my intension to hijack this old thread. But I'm also have the same problem with
@Sedace. Tried from ver 18.1.6 - 18.1.9 and snapshot 18.1.10
In the ver 17.x.x was running well my IPsec + Xauth Roadwarrior VPN.
Thanks.

@Nick,

Your ref site: https://www.thegeekpub.com/5855/pfsense-road-warrior-ipsec-config-works/ is working with opnsense before version 18.x.x in the last ver 17.x it working but after upgrading to 18.1 it broken the vpn.
I try using pfsense 2.4.3-RELEASE-p1 (amd64) it also working fine.
I've tried reinstall my router with opnsens 18.1.6 twice but no luck.
Maybe developer have to know that roadwarrior IPsec still broken in ver 18.1.6 until upgrade last version on date June 12 2018.
I'm switching to pfsense and will be back opnsense if this problem solved!