Explanation
According to the Palo Alto Networks documentation, "A successful phase 2 negotiation requires not only that the security proposals match, but also the proxy-ids on either peer, be a mirror image of each other. So it is mandatory to configure the proxy-IDs whenever you establish a tunnel between the Palo Alto Network firewall and the firewalls configured for policy-based VPNs." The log message indicates that the local and remote IDs are identical, which means they are not mirrored.
References: https://knowledgebase.paloaltonetworks.com/KCSArticleDetail?id=kA10g000000ClW8CAK