I ran IPsec in various ways for about 15 years. Here's what I
can tell you: Wireguard is superior in every single way.
It's easier to configure.
It's easier to debug.
It's probably more secure.
For stable, Wireguard is in buster-backports; it will be
in-kernel in bullseye -- you'll still need to install the tools
package.
Wireguard's model is similar to SSH: you generate public and
private keys for the server and for each user. The server's
config gets to know the users' public keys; the users' configs
each need to know the server's public key and its name or IP
address. If you want to add a user, you generate a key pair and
add the public side to the server config; if you want to delete
a user, you remove their entry from the server config.
The main site is at
wireguard.com, because there's a wire-fence
manufacturer sitting on
wireguard.org.
-dsr-