Thx, this was one option, but we need to separate the IPSEC for other reasons, too.
There is not much effort in upgrade and then encountering the same issues as before
(we cannot make sure the same phenomenon is not occuring in later release).
The problem here was that the IPSEC tunnel was disabled and shutdown on the pfsense and in the next step, the tunnel
was started on the linux system.
Nothing wrong so far, we checked all the ipsec status, even shutdown the ipsec service.
But the outgoing initial packages were not NATed.
After hours of research, the solution was found:
The solution is in the UDP protocol, which is connectionless (but not stateless).
In the firewall states, the old UDP connection (500:500) was still present from the before-active IPSEC connection and
after kicking out this state, a new connection initiated from the linux box was accepted successfully.
The useful point came from https://forum.pfsense.org/index.php?topic=45255.60 (having the same issue with SIP UDP states)
Thank you all !
Marcus