Hi,
If you want to reach devices behind routers, then just set correct subnets in both sides.
If you want to route all traffic via IPsec then try this, let's say one router will act as client and another one as server. Idea forward all traffic from client via server:
In server:
- "Local IP address/Subnet mask" set 0.0.0.0/0
- "Remote IP address/Subnet mask" set client network LAN, for example 192.168.1.0/24
In Client:
- "Local IP address/Subnet mask" et client network LAN, for example 192.168.1.0/24
- "Remote IP address/Subnet mask" set 0.0.0.0/0