On a recently upgraded (10.3-RELEASE-p5 -> 11.0-RELEASE-p1) machine (amd64), I've noticed a barrage of 'esp_output: skip 20 hlen 24 ...' lines in log while there is traffic on an ipsec connection. Due to a change in sys/netipsec/xform_esp.c (DPRINTF on line 723), a log is generated with each packet in my case. This wasn't true in 10.3-p5, and it looks like perhaps that DPRINTF line shouldn't be there? Both the client and the server are FreeBSD 11-p1 machines (both just upgraded).
The culprit was an 'options IPSEC_DEBUG' line in one of my kernel configs. I am able to turn off the messages with 'sysctl net.inet.ipsec.debug=0' without recompiling the kernel. Please disregard it.