Perhaps we should clear up some terminology. Since IPSec is for IP unicast traffic and since DHCP requests are broadcast I believe that the specific technical answer is no it is not possible to transport the original DHCP client requests through an IPSec VPN tunnel to a remote server.
However I believe that it should be possible to configure ip helper-address on the LAN interface of the remote VPN router which will forward a unicast copy of the request through the tunnel to a remote DHCP server. So the result that you seem to want may be achievable.
Login to the FXOS chassis manager.
Direct your browser to https://hostname/, and log-in using the user-name and password.
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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...