I kind of had the same issue with similar setup
Until now I had an IPSec tunnel configured to listen to interface "WAN_A" which was the only one available.
We added more connection (multi-WAN) and WAN_A is not the "Default gateway" anymore.
By looking at client-side tcpdumps and pfSense logs I can tell the client can send traffic to pfSense (show on IPSec logs) but never receives anything back (confirmed by IPSec logs: "racoon: [CLIENT_IP] INFO: DPD: remote (ISAKMP-SA spi=58…:71...) seems to be dead.").
In the future I might add more IPSec tunnel and they might not all listen to interface/gateway "WAN_A".
jimp, suggested to:
Use "LAN" as Interface for tunnel(s)
Set any desired identifier: I used "Distinguished name" setting and typed a pseudo domain name: vpn1.mycompany.com
Add NAT rules so that traffic incoming from WAN_A (and any other desired gateway) on ports ISAKMP (udp/500), ESP (ip/50) and NAT-T (udp/4500) goes to pfSense's LAN inteface IP: You have to manually type it there (can't select "LAN address")
Apply rules and restart IPSec service
I can confirm this works just fine: the same tunnel can now be contacted from any gateway (use NAT or firewall rules to filter out).