Have you experienced any interoperability problems when establishing
tunnels with peers that run other implementations (cisco, checkpoint,
etc)? And if so, how do you work around those?

None--after finding the correct initial configuration everything "just
worked" and continued to.

One example of our "finding the correct initial configuration" when connecting OpenBSD VPN to a SonicWall VPN.
http://cisx1.uma.maine.edu/~wbackman/vpn/
Things are a lot more simple now, thanks to ipsecctl.

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