Ok here are some things to think about on your setup:
For digium server can ping the phones. A Software Client X-Lite can be
manually provisioned and works.
Digium hard phones will not provision.
The quickest way to debug is going to be:
Run a packet capture on both pfsense systems, with the IP address of one
phone, as the match option. Go through reboot/provisioning.
Look at those packet captures to determin, where the phone is trying to
provision from, is it sending the requests to the Switchvox server?
Does the pfsense located with the Switchvox see the provision requests?
Does the pfsense at the remote (phone) send the request?
Is the request being sent over the VPN?
Is the switchvox system routing the provisoning requests back over the
VPN, or trying to send them back over the public Internet?
Without knowing what real protocol they are running over UDP port 5062,
its hard to say what might be going on.
It sounds like you have only partial connetivity for some reason, either
something in the firewalls is not sending the packets where they need to
be, or the protocols the phones are using are trying to send the
requests to the wrong IPs.
Both switchvox and most VOIP phones have a "NAT" feature, where they can
detect the public IP, and decided if to include that in the SIP header
for replies. The provisioning protocol might have something similar.
You didn't indicate if you had set the Switchvox system, (I've used
switchvox before), so that the "local networks" (non-natted) were
defined to include both the local site with the Switchvox and the remote
site. (The setting is labeled a little counter intuitive, in that
"local networks" really means don't NAT these IPs.
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