Help with the interview question

Hey! I get a job and there is a question in the test:

Why do you think some network protocol packets
used to organize VPN (GRE, ESP), sometimes additionally
packed in UDP?
Can you give an example of such a situation?

Can you help to answer it please?

https://www.ibm.com/docs/en/zos/2.2.0?topic=protocols-udp-encapsulation-ipsec-esp-packets

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