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This KB article describes the steps to configure an IPsec connection between the Sophos XG v17 and an AWS Virtual Private Gateway.
Note: Sophos XG Firewall supports only policy based VPN currently and there is a limitation of one Security Association (SA) for policy-based VPN devices on the AWS Virtual Network Gateway. This is one of the reasons why we recommend using an enterprise solution like the Sophos UTM as your VPN endpoint in AWS. For more information about this limitations, read Amazon VPC FAQs.