All right, I'm now sure of when the crashes are provoked, I just have no idea what is causing them.
I have the following version installed:
2.5.0-DEVELOPMENT (amd64)
built on Mon Oct 14 00:22:51 EDT 2019
FreeBSD 12.0-RELEASE-p10
Furthermore, I have the FRR package installed, verion 0.6.3_1. Each of the four test firewalls is configured to connect via IPSec to two other units, in a "circle" configuration. On top of IPSec, they are configured with Phase 2 VTI and OSPF Routing.
The important setting is "IPv6 Configuration Type" for the WAN interface. It this is set to DHCP6, as it was by default, the firewalls crash regularly. If it is set to "None", there are no crashes (or at least they are so infrequent that I haven't seen them yet). Also, as described above, DHCP6 causes a lot of log entries and blocks updates.
Crash log attached:
fw3_20191014.zip
It's not impossible that the IPv6 config on the upstream pfSense box dealing as the WAN gateway and DHCP server is not ideal - but in any case, a misconfiguration here shouldn't cause crashes IMHO.
I can share config backups if needed, since this is a test system. I'm also fine with doing any more tests, but I don't know what.