Reliability of UDP over IPsec
Solution 1:
Wikipedia has a good article on reliability here: https://en.wikipedia.org/wiki/Reliability_(computer_networking)
UDP over IPsec will just encrypt your UDP packets and do nothing to reliability as defined in the above article.
IPsec does not have a way for the client and server to tell each other if they got all the data sent by the other.
IPsec can add data integrity, data origination authentication, and replay protection.
Before I look at the UDP packet you've sent me over IPsec, I can know its you and also know it's not a replay of a very old packet from you.
IPsec was designed to tunnel arbitrary connections and so individual connection state was not something it cares about. If you want reliability with IPsec, you make TCP connections.