@denis31, I wouldn't expect many people on this forum to know what / how the Motorola RFS L2TPv3 link works, however, as luck would have it, I do.
I'm assuming you have another RFS at the other end of the L2TPv3 link.
I've never tried do to what you are looking to do with pfSense, I'd have to spin up a lab to have a crack at it.
Ultimately, I'd suggest you have a rethink on how you can replace the L2TPv3 link with an IPSEC link. You can configure the RFS to run an IPSEC tunnel to pfSense, its not as simple to configure as L2TPv3 by any stretch, but it works.
If you are using the L2TPv3 to do stuff like adopting remote APs, you will ultimately have to migrate your environment from Bridged tunnelling to Local egress.