1) IPsec is based on IP. You can use domain names, but it then translates them to IP and caches it. We use DPD (Dead peer detection) to force a DNS refresh as a work around to the spec limitation. If the Cisco can not do this, you will just need to manually bounce the tunnel. You would also need dynamic DNS running somewhere.
2) M0n0wall supports mobile IPsec, which is an older standard, and is NOT L2TP over IPsec... I wish we supported that, as it is taking over, but I have not had any time to look into what it would take to develop it.
3) Again, that is a limitation of the IPsec spec. Each tunnel has a single route. What you can do is summery routes. That means if you had two adjacent /24 subnets you could refer to them both as a single /23. I do this at most locations as I have wired and wireless on separate networks.
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