After a few days of testing I can say I have it running reliably now, too. I can connect with my iPad, iPhone and with the built in Cisco IPSec client in OS X with the setup found in the previously mentioned post (http://forum.pfsense.org/index.php/topic,24752.msg130558/topicseen.html#msg130558)
As my effort to contribute for this to become a wiki entry, here are the two screenshots of the firewall rules I needed to get traffic flowing after I succeeded in connectiong via IPSec:
The first screenshot is a floating rule, passing all traffic from the ipsec interface to my lan interface (which happens to be a bridge of two interfaces, so it is called LANBRIDGE, but you might wanna just use your default "LAN" interface).
The second screenshot is the firewall rule in the ipsec tab of the firewall. I think it gets created by default, but if not, then set it up as I did, it works :)
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