Strongswan ipsec tunneling between two VMs

I am very new to VPN and IPsec tunneling. I have two VMs between them I need to establish IPsec tunnel by using pre-defined PSK key or provided certificate .pem.
I have installed strongswan-5.9.6-1.el8.x86_64 on both VMs.
When I check the strongswan documentation it says about swanctl and ipsec command line interface. My confusion is which command line tool I can use with strongswan-5.9.6-1.el8.x86_64?

Can you please give me an example how to configure *.conf (ipsec.conf or swanctl.conf) for establishing tunnel between two VM

What is strongswan.conf used for. Do I need to make the changes in this file also? what changes? for IPsec tunneling.