Similar stuff here, running ScreenOS 6.3.0r4.0, using Mutual PSK + XAuth. Error occurs in both policy- and route-based setup. Did you manage to fix it by chance? I believe it's some mistreatment of IKE messages on Shrew side. In my case it happens usually after a couple of IKE timeouts/tunnel downs but even after the SAs are cleared on the ScreenOS the problem persists until the box is reset.
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