Setting up an IPSec VPN tunnel on Ubuntu

Hi, I currently have an Ubuntu server and I need to forward data to another IP Sec VPN Server from my server. Any idea from where I should start? Are there packages for Ubuntu which can handle this?

Iā€™m not too sure how Cloudflare relates to this scenario?

The private networking side of Tunnels is a point-to-site model using WARP (Wireguard) on clients to access networks exposed by cloudflared.

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