Is mixed route / policy based VPN/IPSec possible?

creating an IPSec between three locations, preferably in full mesh.

one side doesn't support route based VPN (pfSense), other two locations do (Ubiquiti and Azure).

is it possible for the one location to use policy based VPN, while the other two use route based? Obviously different methods for managing the remote networks and whatnot, but I'd rather use route based wherever possible and deal w/ the one location independently, rather than plague each of the other routers with one policy based connection and another route based connection (and I'd rather not flip everything to policy based).

Thoughts? Ideas?

(dropping pfSense isn't an option, as much as I'd probably like it to be)