@nbegley I'm not sure why you disable PFS Disable Rekey Disable Reauth or set Responder Only. The more change you make to pfSense's default settings the less chance you'll keep tunnels connected. According to my test (10 years ago), Draytek is compatible to pfSense, but I suggest you do your own interoperability test.
-- Set margin time = 30s.
-- Set short lifetime, like 30m Phase 1 and 15m Phase 2.
-- Do not set Responder Only. Don't Disable Reauth, Disable Rekey or turn off PFS.
-- (Just for the purpose of testing) Use different ciphersuit for Phase 1 and Phase 2 (say, DH group 15 and 14 respectively).
If the tunnel can't be established or stops working after 1h, problem is yours. If it stops after 2 days, go after your ISP.