IPSec is indeed hell with NATs, and an SSL VPN would be much better. But UDP is even better - most NATs do a good job with UDP too, and if done right, it's possible to switch Internet connections without the VPN having to reconnect.
The hell are you fellas smoking? IPsec NAT traversal has been a non-issue since it was standardized about 10 years ago.
Re:Why TCP Over TCP Is a Bad Idea (2001)
by mordechai9000 on Saturday March 28, 2015 @05:06PM
(#9282771)
DTLS is a standard protocol for TLS over UDP. It is used by existing commercial products, such as Cisco Anyconnect.
When I'm using wifi at a coffee shop and start getting a bunch of packet loss, I will switch to a tethered 3G connection. When my SSL VPN reconnects, the VPN server hands me back the same IP address I had before. In some cases, my SSH sessions don't even drop.