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The prerequisites on the wiki page IPsec configuration examples require among others: "At least one router must have a Public Static or Public Dynamic IP address". I understand this to mean, that a network connection via IPsec is also possible if only one router has a public IP address, but the second router has a shared IP address. Unfortunately I can't find any examples for such a configuration.

Is that really possible? Can someone provide me with corresponding configuration examples?

Thanks, Widi

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You could follow this guide as an example: https://wiki.teltonika-networks.com/view/IPsec_configuration_examples

In this guide, both routers do have public IP, but you could ignore the option "remote VPN endpoint" in one of the routers and the connection will work.