OK, given your wording I'm still not entirely sure your problem. It sounds like you're asking this:
1. You have your pfsense server setup "normally", with a static IP.
2. You want to connect to it via IPSEC, from other places, like home or an internet cafe.
As I said, the configuration issue is with the router you are behind, when you're at home or at the cafe. It's not a question of the router's IP, it's the IPSEC NAT settings. If the router has been configured to pass IPSEC through the NAT, then it will work fine. Otherwise, no luck. That's a limitation with IPSEC, it's not NAT friendly, so the router your laptop is behind must be configured to pass IPSEC through NAT unhindered. Most routers have this option, some older ones won't.