Thank you for your reply. I went through the NAT, IPsec and 2.0 forums but couldn't find any thread with a solution…
I don't think it should work automatically, because I'm trying to tunnel through the VPN traffic that wasn't supposed to be tunneled, from ips that are not on the vpn phase2 setup, thats why I need to NAT the traffic.
For instance, my LAN subnet is 192.168.5.0/24, but only the 192.168.5.10 is allowed to use the VPN (and I can't change the remote config to add other hosts), but I would like to access the tunnel from other IPs as well, so I'm trying to move that IP (192.168.5.10) to the pfsense box and NAT the traffic from my LAN through it.
So far I couldn't do it, I think I'll have to use the 192.168.5.10 box as a gateway to the tunnel, but I wish I could avoid having to add static routes everywhere for it to work, plus it creates a new point of failure.