Cloud IPsec Service

Instead of installing agents on all of my machines or creating a linux box to act as my gateway I have been looking for a cloud service that I can use with my Palo Alto PA200 firewall to establish a VPN tunnel with. Does anyone know of such a service?

I know I can always set something up in AWS or another cloud service to do the same but would rather find a service so there is less to setup and maintain. Thanks!

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