I sent a diff to tech@ that should solve your problem:
https://marc.info/?l=openbsd-tech&m=158447623916319&w=2

On Sun, Jan 26, 2020 at 04:12:00PM +0000, Peter Müller wrote:
> Hello openbsd-misc,
> 
> I am strongly interested in this, too.
> 
> Since the iked manpage does not mention this, I suppose it is not possible.
> In combination with ifstated, however, this might result in a DoS scenario
> if one peer becomes unreachable - on purpose or by chance - and any other
> IPsec connections break down due to an iked restart, as Stephan already 
> pointed
> out.
> 
> So any advice on this is appreciated a lot. :-)
> 
> Thanks, and best regards,
> Peter Müller
> 
> 
> > Hi *,
> > 
> > I am in a situation where I've got hosts that handle IPsec connection
> > with multiple endpoints.
> > 
> > So I've wondered if it was possible to restart single connections
> > without rebuilding the rest of the connections.
> > For example Machine A has a tunnel to machine B and machine C.
> > The Tunnel to C is up and running as intended  but the tunnel to B is
> > broken (icmp echos don't return -> for example). How do I rebuilt the 
> > tunnel to B
> > without restarting iked for all connections and interrupting my tunnel to
> > C?
> > 
> > Thank you for your time.
> > 
> > g Stephan
> > 
> 

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