If the connection required NAT-T, it just plain wouldn't work. NAT-T isn't compiled in at all, it'll be refused if proposed or attempted, there is nothing "partial" about the support (see snippet posted by Vorkbaard above).
Even with that device behind NAT you probably don't actually need NAT-T, though that depends on what kind of NAT device it's behind, and possibly a number of other things on their end.
If it negotiates, but doesn't re-negotiate, it's not related to NAT-T. It could be related to many other things. Logs from both ends may help. In these kinds of scenarios with any devices where there are difficulties with two different vendors (regardless of vendor) you may need to crank up the log levels on both ends, which on the pfSense end means running racoon in debug mode.