It depends on the particular content of the messages. Those payloads that contain random (or randomly-looking) data like Nonce, KE, most VIDs are almost uncompressable. However the content of SA payload contains so many zeroes that it can be compressed of up to 90%. So, if your IKE_SA_INIT's SA payload contains only a couple of transforms, the saving is minimal - about few tens of bytes. However if it contains a long list of transforms, then you could make initial message 30% or even twice as small comparing to no compression.

But IoT devices would likely only suggest one or at most two transforms
anyway? Not a long list?

As far as I understand for some lower power consumption systems even small reduction of message is significant. For example see the following: https://mailarchive.ietf.org/arch/msg/ipsec/TsI1OPGL-84AjZGB_RMyhqOPucY

And IKE_AUTH messages often contains a certificates, that is usually compressable by 30%.

I thought IoT devices did not even have the memory to do X.509, which is
why raw public keys were added to TLS ?

I don't think raw public keys cover all use cases. The IoT device could present
its own certificate even if it cannot process the peer's one. And even without
certificates the IKE_AUTH messages contain some redundancy to compress.

Paul

Regards,
Valery.

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