IPsec/XAuth mode is also called “Cisco IPsec”. This mode is generally faster than IPsec/L2TP with less overhead. IPsec/XAuth ("Cisco IPsec") is natively supported by Android, iOS, and MacOS. There is no additional software to install for them.
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 and CentOS distro.