Which technology works with IPsec stateful failover?

HSRP (Hot Standby Router Protocol). HSRP is a Cisco proprietary protocol that provides stateful failover for IPsec virtual private networks (VPNs). It is used to create a virtual router in order to provide redundancy in the event of an IPsec VPN failure. HSRP works by assigning a single primary router to manage the connection and forwarding traffic to the secondary router if the primary router fails.

https://www.cisco.com/c/en/us/td/docs/ios-xml/ios/sec_conn_vpnav/configuration/15-mt/sec-vpn-availability-15-mt-book/sec-state-fail-ipsec.html