pfSense

While I tested IPsec I found that 'NAT-T: Force' is broken for IPv6. I've tried IKEv1 and IKEv2 with both 'Mutual certificate' and 'Mutual PSK' - tunnel is always initiated successfully (via UDP 4500) but I see no traffic on remote side.
I tried: Force-Auto, Force-Force - doesn't matter, no traffic on remote side.
Packet Capture showed that local pfSense forwards traffic into IPsec but I don't see it on remote. As soon as I turn to 'NAT-T: Auto' on both sides everything is working correctly (via UDP 500)

My Setup is
- local device: SG-2220 with WAN IPv6: 2001:xxxx:fe09:c84a and LAN IPv6: 2001:zzzz:208:a2ff:fe09:c84b
- remote device: SG-2440 with WAN IPv6: 2001:xxxx:fe0a:acae and LAN IPv6: 2001:yyyy:208:a2ff:fe0a:acaf

I see all defaults firewall rules:
Local:
pass out inet6 proto udp from (self) to 2001:xxxx:fe0a:acae port = isakmp keep state label "IPsec: 2001:xxxx:fe0a:acae - outbound isakmp"
pass in on igb0 inet6 proto udp from 2001:xxxx:fe0a:acae to (self) port = isakmp keep state label "IPsec: 2001:xxxx:fe0a:acae - inbound isakmp"
pass out inet6 proto udp from (self) to 2001:xxxx:fe0a:acae port = sae-urn keep state label "IPsec: 2001:xxxx:fe0a:acae - outbound nat-t"
pass in on igb0 inet6 proto udp from 2001:xxxx:fe0a:acae to (self) port = sae-urn keep state label "IPsec: 2001:xxxx:fe0a:acae - inbound nat-t"
pass out inet6 proto esp from (self) to 2001:xxxx:fe0a:acae keep state label "IPsec: 2001:xxxx:fe0a:acae - outbound esp proto"
pass in on igb0 inet6 proto esp from 2001:xxxx:fe0a:acae to (self) keep state label "IPsec: 2001:xxxx:fe0a:acae - inbound esp proto"

Remote:
pass out inet6 proto udp from (self) to 2001:xxxx:fe09:c84a port = isakmp keep state label "IPsec: 2001:xxxx:fe09:c84a - outbound isakmp"
pass in on igb0 inet6 proto udp from 2001:xxxx:fe09:c84a to (self) port = isakmp keep state label "IPsec: 2001:xxxx:fe09:c84a - inbound isakmp"
pass out inet6 proto udp from (self) to 2001:xxxx:fe09:c84a port = sae-urn keep state label "IPsec: 2001:xxxx:fe09:c84a - outbound nat-t"
pass in on igb0 inet6 proto udp from 2001:xxxx:fe09:c84a to (self) port = sae-urn keep state label "IPsec: 2001:xxxx:fe09:c84a - inbound nat-t"
pass out inet6 proto esp from (self) to 2001:xxxx:fe09:c84a keep state label "IPsec: 2001:xxxx:fe09:c84a - outbound esp proto"
pass in on igb0 inet6 proto esp from 2001:xxxx:fe09:c84a to (self) keep state label "IPsec: 2001:xxxx:fe09:c84a - inbound esp proto"

and I use 'IPv4-IPv6 Allow All' rule on LAN and IPsec on both sides

With 'NAT-T: Auto' when I ping from LAN to LAN I see that ping works
Local
WAN udp 2001:xxxx:fe0a:acae⁵⁰⁰ -> 2001:xxxx:fe09:c84a⁵⁰⁰ MULTIPLE:MULTIPLE 4 / 4 6 24 B / 624 B
IPsec ipv6-icmp 2001:zzzz:208:a2ff:fe09:c84b⁶⁴⁴⁰ -> 2001:yyyy:208:a2ff:fe0a:acaf⁶⁴⁴⁰ NO_TRAFFIC:NO_TRAFFIC 10 / 10 560 B / 560 B
WAN esp 2001:xxxx:fe09:c84a -> 2001:xxxx:fe0a:acae MULTIPLE:MULTIPLE 10 / 10 1 KiB / 1 KiB

Remote
WAN udp 2001:xxxx:fe0a:acae⁵⁰⁰ -> 2001:xxxx:fe09:c84a⁵⁰⁰ MULTIPLE:MULTIPLE 3 / 3 468 B / 468 B
WAN esp 2001:xxxx:fe09:c84a -> 2001:xxxx:fe0a:acae MULTIPLE:MULTIPLE 10 / 10 1 KiB / 1 KiB
IPsec ipv6-icmp 2001:zzzz:208:a2ff:fe09:c84b⁶⁴⁴⁰ -> 2001:yyyy:208:a2ff:fe0a:acaf⁶⁴⁴⁰ NO_TRAFFIC:NO_TRAFFIC 10 / 10 560 B / 560 B

but when I use 'NAT-T: Force' I get
Local and Remote
WAN udp 2001:xxxx:fe09:c84a⁵⁰⁰ -> 2001:xxxx:fe0a:acae⁵⁰⁰ MULTIPLE:MULTIPLE 2 / 2 672 B / 784 B
WAN udp 2001:xxxx:fe09:c84a⁴⁵⁰⁰ -> 2001:xxxx:fe0a:acae⁴⁵⁰⁰ MULTIPLE:MULTIPLE 7 / 6 3 KiB / 3 KiB

so there are no states for WAN ESP and there are no states for IPv6-ICMP