About tunnels

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Hi folks,

I have two CentOS 4 server I administrate doing routing and 
firewalling of two networks (one NATed and firewalled and the other one 
merely firewalled) and I'd like to build a tunnel to allow computers on 
the normal private network (and the firewall) to access the private IPs of 
computers behind the NAT/firewall.

ie.
               ALPHA                BETA
10.0.0.0/8 - CentOS4 - internet - CentOS4 - X.Y.Z.0/24
Private IPs  Firewall             Firewall  Public IPs
              and NAT

now the internet is intracity, within one provider and decently safe (6 
hops), but still some sort of encryption would be nice... (otherwise I'd 
just use ip tunnel).

How do I allow both BETA and X.Y.Z.0/24 to connect to the private IPs?
Should I use CIPE? IPSEC? something else? any good howtos?
Preferably something fast and reliable, doesn't need to be that easy to 
set up :)

I'm basically looking for comments, I have looked around on google, and it 
seems there's _tons_ of options, but IPSEC seems to be winning out... am I 
correct in that assumption?

Cheers,
MaZe.

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