Hello Ilias
Unfortunately, NHRP only works with GRE tunnels and doesn’t function with IPsec. Take a look at this Cisco Community thread which details this fact.
The reason is that NHRP can be thought of as a Layer 2 protocol. When encapsulated within a GRE tunnel, it is tunneled as is. With native IPSec tunneling, it attempts to send a Layer 2 protocol over an infrastructure designed for Layer 3, so it fails.
I hope this has been helpful!
Laz