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Depending on resources available on nodes and whether you are going to implement anything yourself, racoon and ipsec could be a solution. It supports nodes with x.509 certificates issued by a local CA. Please note this question is not simple at all.


Key exchange is notoriously hard to get right, and I strongly recommend not to do your own (unless your security requirements are really minimal). For example, what you propose does not provide forward security, which is generally considered of great importance in key exchange protocols. The good news is that there is a paper doing exactly what you need; ...

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