MFC r347178:
Add ipsec.ko to required_modules for rc.d/ipsec script.

Thus it can be automatically loaded if ipsec_enable="YES" and option IPSEC
is not in the kernel config.

Move the rc framework out of sbin/init into libexec/rc.

The reasons for this are forward looking to pkgbase:
* /sbin/init is a special binary; try not to replace it with
every package update bec

Move the rc framework out of sbin/init into libexec/rc.

The reasons for this are forward looking to pkgbase:
* /sbin/init is a special binary; try not to replace it with
every package update because an rc script was touched.
(a follow-up commit will make init its own package)
* having rc in its own place will allow more easy replacement
of the rc framework with alternatives, such as openrc.

Discussed with: brd (during BSDCam), kmoore
Requested by: cem, bz
PR: 231522
Approved by: re (gjb)

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