Hello Victor,
Here are some of my thoughts on your post; feel free to ask follow-up questions.
IPsec is not optional - connection security rules depend on the IKEv1 and AuthIP protocols to negotiate cryptographic parameters and keys ("security associations") and IPsec (normally ESP (Encapsulating Security Payload) but perhaps also AH (Authentication Header)) to use/carry the authentication information in each packet.
"Require inbound and outbound" authentication of a system will cut it off from other systems not under your control such as software updates, time synchronization, etc. - this needs to be a well-considered setting.
Whether authentication is requested or required should not affect the creation of Main and Quick Mode security associations. If authentication is requested or required then an attempt will be made to negotiate security associations; "required" just means that traffic not sent over IPsec will be rejected (with a few "infrastructure" exemptions, such as IKEv1/AuthIP, ICMP and a few others).
"Request inbound and outbound" authentication is useful for testing connection security rules without unintentionally breaking connectivity and can also be useful to provide additional security (integrity/privacy) between cooperating systems.
Gary