I'm not "seriously" interacted, but I have VPN server and I'm using it on all devices in my hope (laptop, PC, phone) which are behind WiFi NAT. They work just fine. I'm using strongswan and IKEv2 on server.
More likely is that both ends are using IPSec NAT-T (https://tools.ietf.org/html/rfc3947), which has been widely supported for some time. NAT-T encapsulates IP packets inside UDP, with the IKE daemons (usually) as the UDP endpoints.
