Hi there,
Events generated by the Authenticated Internet Protocol (AuthIP) and the Internet Key Exchange protocol (IKE) during Main Mode negotiations are audited by the codes which fall under the Audit IPsec Main Mode subcategory. Event 4653 falls under this category.
Here is a troubleshooting link for your reference.IPSec Troubleshooting http://technet.microsoft.com/en-us/library/cc783041(v=WS.10).aspx
Troubleshooting VPN over IPsec http://technet.microsoft.com/en-us/library/bb794765.aspx
The below thread discusses the same issue and you can try out some troubleshooting steps from this and see if that helps you to sort the Issue.
Audit Failure - Event ID 4653 - An IPsec main mode negotiation failed https://social.technet.microsoft.com/Forums/en-US/5c5befdb-db83-42e9-8ede-85d049806303/audit-failure-event-id-4653-an-ipsec-main-mode-negotiation-failed?forum=winserversecurity
Audit IPsec Main Mode https://learn.microsoft.com/en-us/windows/security/threat-protection/auditing/audit-ipsec-main-mode
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