Even getting people to use certificates on IPSEC tunnels is a pain. Which reminds me, I think the smallest models of either Palo Alto or Checkpoint still have bizarre authentication failures if the certificate chain is too long, which was always weird to me because the control planes had way more memory than necessary for well over a decade.
The real key is getting ESP HW offload.
ESP is stateless if using IPv6 (no fragmentation), or even if using IPv4 (fragmented packets -> let the host handle them; PMTUD should mean no need for fragmentation the vast majority of the time). Statelessness makes HW offload easy to implement.
Using the long ago past as FUD here is not useful.
This is fact, not FUD.
Microsoft has had multiple RCE vulns in their ipsec stack in the last two years.
The big vendors like Cisco had ipsec vulns for decades.
These days the issues are pretty well known and documented, but it really is a bad standard.