I don`t think it is possible. AFAIK, the UDP port 500 is assigned by the IETF to the IKE protocol. I think, the OS coder uses UDP/500 to create the VPN3000`s OS. But if you get any information, please let me know.
If you use plain IPSec, or IPSec over udp, you will use udp 500.
If you use IPSec over TCP, you can use any tcp port (subject to your firewall filters). All required packets, including ike will be encapsulated in tcp. You may see some udp packets to 500 and 6xxxx, but they are not needed.
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We have configured the outside and inside Interface with official ipv6 adresses, set a default route on outside Interface to our router, we also have definied a rule , which also gets hits, to permit tcp from inside Interface to any6.
In Syslog I also se...