IKEv2 contains improvements such as Standard Mobility support. This is my personal snippet to set up IKEv2 VPN server & clients for multiple servers.
Following these steps allow you to configure your Android, iOS, MacOS, and Linux machine using IPsec/XAuth (Cisco IPsec) VPN.
This is the next part after you successfully set up your own IPsec VPN server. Following these steps allow you to configure your Android, iOS, MacOS, and Linux machine using IPsec/L2TP VPN.
A few years ago, I've found this gem which allow us to set up our own IPsec VPN server with L2TP, XAuth and IKEv2 on Ubuntu, Debian, RHEL, and CentOS.