Shocking, you had this problem since a half year.
I tried Monowall (1.32) last week because my Billion router's firewall feature is sh**. Everything good except VPN.
I connect to 2 AVM Fritz 3270 on dyndns. Everytime T-Com severes the connection at night, the tunnel breaks down. Then the monowall tries to reestablish the tunnel to the IP address the Fritzbox had before, I guess the same Problem as yours. Authentication fails then of course.
It looks like racoon doesn't make a DNS lookup before reestablishing the tunnel, as you said. I set dead peer detection to 60 and IPSec DNS check interval to 30 seconds but nothing helped.
I'm only a enthusiastic user, not a software engineer. So I'll have to go back to my Billion I'm afraid if nobody here can help us.
The two AVM Fritzboxes between each other and with the Billion 7402NX (Australia) work perfect, proofs the point that it is a pure monowall issue.
One option is to run Sysuptime in the office on a server and at least get an email when the tunnel is down.
Sorry that I can't help you any further but at least you know the it is a generic Monowall/Dyndns problem and nothing you did wrong.