Hi,
I am not sure about domains but yes you can achieve redundancy between 2 ISP links over IPSec VPN.
I have done the same and is in production.
The only differnce is i am using a 2851 rtr with 2 different links from 2 different ISP,
u will need to create a loopback tunnel to the peer IP and set it for session based.
We have also encrypted the link by using crypto on both the interfaces.
Thanks