# cat /etc/iked.conf
ikev2 "rathaus" active esp \
     from 192.168.0.0/24 to any \
     from dynamic to 192.168.0.0/24 \
     peer vpn.example.com \
     srcid o2@rathaus \
     psk "will-change-to-certs-if-testing-is-finished" \
     request address any \
     iface lo1

I discovered that

peer vpn.example.com local 2003:c8:2721:cc00:f773:7319:68a6:8ed8

works. (Even though the logs show that this address is already used you have to explicitly mention it via "local" again.) Since "local" accepts a hostname, my workaround/solution is:

peer vpn.example.com local dyndns-client.example.com

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