Split this to its own topic as it's not at all related to the thread you posted in.
"received INVALID_ID_INFORMATION error notify" means your identifiers don't match. They wouldn't have before the upgrade either, racoon just (wrongly, really) didn't care. Info here:
https://doc.pfsense.org/index.php/UpgradeGuide#Stricter_Phase_1_Identifier_Validation
If you're using non-IP identifiers, you'll need to switch back to aggressive mode, and fix the P1s on both sides so the identifiers match.