Not exactly what you asked for, I do not have multiple pfSense devices here in real action.
I am using IPsec for site-2-site VPN, but because remote devices supports only IPsec v1, the VPN connection is only established by demand (I enable the tunnel in pfSense GUI).
For remote access to my LAN I use both, IPsec (v2) and Wireguard.
Wireguard is really fast compared to the IPsec, but some complain, the client is less secure when the mobile device gets lost.
With IPsec, you can specify an individual password when establishing the connection, with Wireguard all settings are stored iin the configuration. So if someone has physical access to the mobile device, he just opens the Wireguard app and is able to establish a connection.
Regards