I don't know if you're still looking to do this, but I made it work …
Here is how I built the VPN, I must say that one side was a Linux OpenSwan though. The trick is the remote subnet and local subnet.
Even if you put 0.0.0.0/0 in remote subnet, the local trafic will remain inside, because the router seens to assign a higher metric routes for ipsec connections.
On pfSense1 you should set the IPSec as follow pay attention to local subnet
and on the pfSense2 as follow pay attention to remote subnet