If you're not doing this for an enterprise IPsec use case you can build an entire WireGuard setup with a guide the same length as this one which is just walking you through using pre-made setup script and images. The WireGuard setup will likely perform better and work in more places as it's just outbound UDP. Example guide: https://www.cyberciti.biz/faq/ubuntu-20-04-set-up-wireguard-...