vyos@r2# set vpn ipsec site-to-site peer 192.0.2.3 authentication mode 
Possible completions:
   pre-shared-secret
                pre-shared-secret_description
   rsa          rsa_description
   x509         x509_description

vyos@r2# set vpn ipsec site-to-site peer 192.0.2.3 connection-type 
Possible completions:
   initiate     initiate_description
   respond      respond_description

vyos@r4-epa2# set vpn ipsec site-to-site peer 192.0.2.3 authentication mode 
Possible completions:
   pre-shared-secret
                Use pre-shared secret key
   rsa          Use RSA key
   x509         Use X.509 certificate

vyos@r4-epa2# set vpn ipsec site-to-site peer 192.0.2.3 connection-type 
Possible completions:
   initiate     Bring the connection up immediately
   respond      Bring the connection up only if traffic is detected