https://github.com/vyos/vyos-1x/blob/d956fda57f3288d6b23af90eab205091a0797e1a/data/templates/ipsec/ios_profile.j2#L44
in this line, it refers to {{ authentication.id if authentication.id is vyos_defined else 'VyOS' }} but authentication.id no longer exists its authentication.local-id
atm this is the only i have found but i believe another error would be around since it was changed the layout of commands in:
set vpn ipsec remote-access connection XXXX authentication