> Yes, please.  `YYERROR' is the common idiom after `yyerror()' if you
> want to fail hard.

Good to hear! Below is what I would propose to add to the man page to make
the [ESP only] a little clearer. Do you think this would be helpful?

Index: iked.conf.5
===================================================================
RCS file: /cvs/src/sbin/iked/iked.conf.5,v
retrieving revision 1.55
diff -u -p -u -r1.55 iked.conf.5
--- iked.conf.5 11 May 2019 16:30:23 -0000      1.55
+++ iked.conf.5 16 Aug 2019 08:50:52 -0000
@@ -846,6 +846,12 @@ not encryption:
 .It Li null Ta "" Ta "[ESP only]"
 .El
 .Pp
+Transform followed by [IKE only] can only be used with the
+.Ic ikesa
+keyword, transforms with [ESP only] can only be used with the
+.Ic childsa
+keyword.
+.Pp
 3DES requires 24 bytes to form its 168-bit key.
 This is because the most significant bit of each byte is used for parity.
 .Pp

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