No. I believe I know the specific people to whom Gilmore is referring, and I believe his observations to be a straightforward result of incompetence. You have to have read the IPSEC working group list posts of the time and see how the group treated real cryptographers to understand how unnecessary it would have been for NSA to have corrupted that standard.
No, I don't think NSA tried to subvert IPSEC, and especially not in the way Gilmore describes.