configuring ipsec.conf with ipcomp seem to be difficult then I thought. I enable ipcomp
# sysctl -a | grep ipcomp
net.inet.ipcomp.enable=1

ipcomp is enabled on both gateways. Here is ipsec.conf:

flow ipcomp from 10.10.10.0/24 to 10.10.2.0/24 \
       peer 192.168.1.57

ike esp from 10.10.10.0/24 to 10.10.2.0/24 \
        peer 192.168.1.57 \
        main auth hmac-sha2-256 enc 3des group modp1024 lifetime 86400 \
        quick auth hmac-sha2-256 enc 3des lifetime 86400 \
        psk f15490b4ebc2bfc41a9a009509c91ceb443547f6

my local LAN 10.10.10.0/24
remote LAN 10.10.2.0/24

# ipsecctl -s all
FLOWS:
flow esp in from 10.10.2.0/24 to 10.10.10.0/24 peer 192.168.1.57 type require flow esp out from 10.10.10.0/24 to 10.10.2.0/24 peer 192.168.1.57 type require

SAD:
esp tunnel from 192.168.1.57 to 192.168.125.157 spi 0xc259f59d auth hmac-sha2-256 enc 3des-cbc esp tunnel from 192.168.125.157 to 192.168.1.57 spi 0xe9b1976d auth hmac-sha2-256 enc 3des-cbc
#


any ideas? documentation man ipsec.conf has poor information about ipcomp, in my point of view.

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