Okay, I took jimp's advice, and after some struggling with syntax, I was able to get past the NO_PROP error (to run into a different error right behind it).
Anyway, to help someone else with the NO_PROP error, I'll document what I did.
I looked in the /var/etc/ipsec/swanctl.conf file on the Netgate 4100 and found these two lines:
proposals = aes256-sha256-modp1024
esp_proposals = aes256-sha1,aes256-sha256,aes256-sha384,aes256-sha512
Note that the syntax is very different from what was shown in the log file such as "AES_CBC_128".
I copied these into the corresponding fields in the network-manager-strongswan VPN settings.
On Ubuntu 22.04, it is in this location:
VPN Settings > Identity tab > Algorithms at the bottom
Check the box "Enable custom algorithm proposals"
In the IKE text input, I put:
aes256-sha256-modp1024
In the ESP text input, I put:
aes256-sha1;aes256-sha256;aes256-sha384;aes256-sha512
NOTE THAT THE COMMAS WERE REPLACED WITH SEMICOLONS! This caused me a bit of frustration until I accidentally mouse-overed the input label and saw that it said the list must be semi-colon-separated.
Anyway, with these changes, I now no longer get the NO_PROP error.
Now, I get a missing public key on the SSL certificate. If I can't solve that, I'll start a new thread.
Thanks, @jimp !