Netgates official documentation for pfSense is the place to start, they have tons of configuration examples that go over things like this.
However, it's worth noting that it may be easier to setup (and more important easier to setup securely) WireGuard instead of IPsec for this use case, I use WireGuard for remote access and it's been basically perfect.
The big thing with IPsec is that it's really complex, overly so (and this is coming from someone who knows the ins and outs of IPsec very well and has setup an absolute ton of VPNs with it); so it can be hard to get working if you're knew to it and even harder to make properly secure, so if you go the IPsec route make sure you really understand it and be thorough, it's easy to make a big mistake.
But again, I'd first encourage using WireGuard for remote access VPNs, unless you need to manage things at scale or have a reason to use IPsec, it would be my choice, I've even used it in corporate settings and it's been extremely reliable.