I think that the concentrator would only accept a max of 64 AUTH sockets, so you may be running out of sockets. This is usually because of high number of groups configured. Rebooting the device may get rid of this error but after some time the error may appear again. I think it will be good to reduce the groups and tunnels connected to the device.
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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...