Post your logs. Is this behavior the same from either LAN? Is this setup virgin, meaning did it work with older pfSense versions and is now misbehaving or is this a fresh setup?
Obviously the IPsec/UDP link should be simplified and tested to isolate the problem. You can also test the setup on different hardware. Is the current system on VMs? I'm no expert - you've probably tried all this, so let us know how that went.
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