ikev2,"Ipsec, error can't get private key" appears in the log

Hello everyone, I have trouble configuring my ike2 vpn according to the official help document, please help me
I refer to this document
https://help.mikrotik.com/docs/display/ROS/IPsec#IPsec-RoadWarriorsetupusingIKEv2withRSAauthentication

This is my client’s configuration

/ip ipsec mode-config
add name=ike2-rw responder=no
/ip ipsec policy group
add name=ike2-rw
/ip ipsec profile
add name=ike2-rw
/ip ipsec peer
add address=1.62.251.118/32 exchange-mode=ike2 name=ike2-rw-client profile=ike2-rw
/ip ipsec proposal
add name=ike2-rw pfs-group=none
/ip ipsec identity
add auth-method=digital-signature certificate=cert_export_rw-client1.p12_0 generate-policy=\
    port-strict mode-config=ike2-rw peer=ike2-rw-client policy-template-group=ike2-rw
/ip ipsec policy
add group=ike2-rw proposal=ike2-rw template=yes

The following error appeared in my log

19:31:45 ipsec,error can't get private key
 19:31:45 ipsec adding notify: AUTHENTICATION_FAILED
 19:31:45 ipsec,debug => (size 0x8)
 19:31:45 ipsec,debug 00000008 00000018
 19:31:45 ipsec <- ike2 request, exchange: AUTH:1 1.62.251.118[4500] 84ceebc655ab6287:ec4dabcf5c648235
 19:31:45 ipsec,debug ===== sending 220 bytes from 192.168.31.82[4500] to 1.62.251.118[4500]
 19:31:45 ipsec,debug 1 times of 224 bytes message will be sent to 1.62.251.118[4500]
 19:31:45 ipsec,info killing ike2 SA: ike2-rw-client 192.168.31.82[4500]-1.62.251.118[4500] spi:84ceebc655ab6287:ec4dabcf5c648235
 19:31:45 ipsec KA remove: 192.168.31.82[4500]->1.62.251.118[4500]
 19:31:45 ipsec,debug KA tree dump: 192.168.31.82[4500]->1.62.251.118[4500] (in_use=1)
 19:31:45 ipsec,debug KA removing this one...
 19:31:46 ipsec ike2 starting for: 1.62.251.118
 19:31:47 ipsec adding notify: IKEV2_FRAGMENTATION_SUPPORTED
 19:31:47 ipsec,debug => (size 0x8)
 19:31:47 ipsec,debug 00000008 0000402e
 19:31:47 ipsec adding notify: NAT_DETECTION_DESTINATION_IP
 19:31:47 ipsec,debug => (size 0x1c)
 19:31:47 ipsec,debug 0000001c 00004005 d1a8174f 274c82ec 57ffb917 762ca478 33b9a69c
 19:31:47 ipsec adding notify: NAT_DETECTION_SOURCE_IP
 19:31:47 ipsec,debug => (size 0x1c)
 19:31:47 ipsec,debug 0000001c 00004004 40aa98ca 8901c4d3 531464b0 fb8cf1c0 3f8f30bb
 19:31:47 ipsec adding payload: NONCE
 19:31:47 ipsec,debug => (size 0x1c)
 19:31:47 ipsec,debug 0000001c 622faac4 002343d4 ea463c45 ccaf0cf5 ad074150 3806e7c8
 19:31:47 ipsec adding payload: KE
 19:31:47 ipsec,debug => (first 0x100 of 0x108)
 19:31:47 ipsec,debug 00000108 000e0000 ca10fd42 c5bd2690 59d142be 2d4f20cb e7af85f3 625e4c6c
 19:31:47 ipsec,debug 49677473 19c4980b 771b03d9 62ead805 9ca25eab 310829d2 86dac253 b4f03c90
 19:31:47 ipsec,debug 7391f601 f5a6540c 733be228 227dd1f4 e9b8079b 7fc04279 a436d0c5 fcb56743
 19:31:47 ipsec,debug d614473a 968a10e7 ccfbec76 fc2cd374 85bbbe67 dfd3d523 bb2c9667 095a8855
 19:31:47 ipsec,debug 8199204a a82003b5 c646b762 5be4ecbd 2c52de2c 6ef05ced 6158a915 fe1c3360
 19:31:47 ipsec,debug 19bec5bc 82275cff 0338494a c909f8ea 714950aa be66d5bf 71beff8c 1404156e
 19:31:47 ipsec,debug b9412a13 8621dd03 27a30e95 997503af 312aaf05 f51a7003 729d3dd2 21e3b2ba
 19:31:47 ipsec,debug 4af56445 835ce943 e0288bce eeaa33a7 73fa2523 1f3475d8 00a8ffb0 70efd53b
 19:31:47 ipsec adding payload: SA
 19:31:47 ipsec,debug => (size 0x40)
 19:31:47 ipsec,debug 00000040 0000003c 01010006 0300000c 0100000c 800e0080 03000008 01000003
 19:31:47 ipsec,debug 03000008 02000002 03000008 03000002 03000008 0400000e 00000008 04000002
 19:31:47 ipsec <- ike2 request, exchange: SA_INIT:0 1.62.251.118[4500] afe46a55add8e618:0000000000000000
 19:31:47 ipsec,debug ===== sending 448 bytes from 192.168.31.82[4500] to 1.62.251.118[4500]
 19:31:47 ipsec,debug 1 times of 452 bytes message will be sent to 1.62.251.118[4500]
 19:31:47 ipsec,debug ===== received 429 bytes from 1.62.251.118[4500] to 192.168.31.82[4500]
 19:31:47 ipsec -> ike2 reply, exchange: SA_INIT:0 1.62.251.118[4500] afe46a55add8e618:bc9d21157c465ff3
 19:31:47 ipsec ike2 initialize recv
 19:31:47 ipsec payload seen: SA (48 bytes)
 19:31:47 ipsec payload seen: KE (264 bytes)
 19:31:47 ipsec payload seen: NONCE (28 bytes)
 19:31:47 ipsec payload seen: NOTIFY (28 bytes)
 19:31:47 ipsec payload seen: NOTIFY (28 bytes)
 19:31:47 ipsec payload seen: CERTREQ (5 bytes)
 19:31:47 ipsec processing payload: NONCE
 19:31:47 ipsec processing payload: SA
 19:31:47 ipsec IKE Protocol: IKE
 19:31:47 ipsec  proposal #1
 19:31:47 ipsec   enc: aes128-cbc
 19:31:47 ipsec   prf: hmac-sha1
 19:31:47 ipsec   auth: sha1
 19:31:47 ipsec   dh: modp2048
 19:31:47 ipsec matched proposal:
 19:31:47 ipsec  proposal #1
 19:31:47 ipsec   enc: aes128-cbc
 19:31:47 ipsec   prf: hmac-sha1
 19:31:47 ipsec   auth: sha1
 19:31:47 ipsec   dh: modp2048
 19:31:47 ipsec processing payload: KE
 19:31:47 ipsec,debug => shared secret (size 0x100)
 19:31:47 ipsec,debug b8ed85c4 ce9233ec 101c6228 f51e8a75 1999693b 8d45c786 9e860166 24a575b5
 19:31:47 ipsec,debug 0913115b 28c71df1 4b47f2ee 6d7f8dc7 78082a5d 6049da0f 4adbaf9e 5f3362b0
 19:31:47 ipsec,debug f4598ea9 b56bd362 0ee15050 f4cd6799 43816c75 09fde846 1ff85fb3 6a572f6e
 19:31:47 ipsec,debug 7d866e61 3c984fb0 9a5c2e92 e92f8a8e a7ca8db1 d7973feb a516f36e cb2756e8
 19:31:47 ipsec,debug a2d9357c f18adba5 091f39d9 d00d3778 e25c2d57 34e3defe bd450de0 6875f1d6
 19:31:47 ipsec,debug 0775ab05 0f0e73cd cfc4a0ba 5ca3be65 940d9d0d 4910573f a58d5dec 38dcb268
 19:31:47 ipsec,debug ec18e78b 4a531363 71da68ea 62d7fb64 479317ff 39671af5 9b7bc785 2935eb17
 19:31:47 ipsec,debug d3436283 b95485e7 008925f6 9d165c5d 3a3061e7 bdd6bf3a 1b39bab6 1d481d78
 19:31:47 ipsec,debug => skeyseed (size 0x14)
 19:31:47 ipsec,debug 8e3a2465 a0e0e70e 2e4b2591 fa42d0ac b816f8fa
 19:31:47 ipsec,debug => keymat (size 0x14)
 19:31:47 ipsec,debug 75ff304a 5c6449c2 fdeef599 891b2630 5404b339
 19:31:47 ipsec,debug => SK_ai (size 0x14)
 19:31:47 ipsec,debug 3049085e 8779a4c5 b5eaf9ed ea602bc8 92d44154
 19:31:47 ipsec,debug => SK_ar (size 0x14)
 19:31:47 ipsec,debug 6252e811 ed035dad 6c019671 2a7f24aa d9e952fd
 19:31:47 ipsec,debug => SK_ei (size 0x10)
 19:31:47 ipsec,debug 76bb2cb0 73bb695f 8e342b61 e68988f3
 19:31:47 ipsec,debug => SK_er (size 0x10)
 19:31:47 ipsec,debug 7fe115a0 46fc410b b3cb9c71 d3a957e4
 19:31:47 ipsec,debug => SK_pi (size 0x14)
 19:31:47 ipsec,debug 341d660a c608e75d cc7a85b9 5edd6709 2f42dc65
 19:31:47 ipsec,debug => SK_pr (size 0x14)
 19:31:47 ipsec,debug 54972b6e dea4d248 24bc41fc 84f0f40f b5ef3c4e
 19:31:47 ipsec,info new ike2 SA (I): ike2-rw-client 192.168.31.82[4500]-1.62.251.118[4500] spi:afe46a55add8e618:bc9d21157c465ff3
 19:31:47 ipsec processing payloads: NOTIFY
 19:31:47 ipsec   notify: NAT_DETECTION_SOURCE_IP
 19:31:47 ipsec   notify: NAT_DETECTION_DESTINATION_IP
 19:31:47 ipsec (NAT-T) LOCAL
 19:31:47 ipsec KA list add: 192.168.31.82[4500]->1.62.251.118[4500]
 19:31:47 ipsec init child continue
 19:31:47 ipsec offering proto: 3
 19:31:47 ipsec  proposal #1
 19:31:47 ipsec   enc: aes256-cbc
 19:31:47 ipsec   enc: aes192-cbc
 19:31:47 ipsec   enc: aes128-cbc
 19:31:47 ipsec   auth: sha1
 19:31:47 ipsec my ID (DER DN): rw-client1
 19:31:47 ipsec adding payload: ID_I
 19:31:47 ipsec,debug => (size 0x1f)
 19:31:47 ipsec,debug 0000001f 09000000 30153113 30110603 5504030c 0a72772d 636c6965 6e7431
 19:31:47 ipsec,error can't get private key
 19:31:47 ipsec adding notify: AUTHENTICATION_FAILED
 19:31:47 ipsec,debug => (size 0x8)
 19:31:47 ipsec,debug 00000008 00000018
 19:31:47 ipsec <- ike2 request, exchange: AUTH:1 1.62.251.118[4500] afe46a55add8e618:bc9d21157c465ff3
 19:31:47 ipsec,debug ===== sending 268 bytes from 192.168.31.82[4500] to 1.62.251.118[4500]
 19:31:47 ipsec,debug 1 times of 272 bytes message will be sent to 1.62.251.118[4500]
 19:31:47 ipsec,info killing ike2 SA: ike2-rw-client 192.168.31.82[4500]-1.62.251.118[4500] spi:afe46a55add8e618:bc9d21157c465ff3
 19:31:47 ipsec KA remove: 192.168.31.82[4500]->1.62.251.118[4500]
 19:31:47 ipsec,debug KA tree dump: 192.168.31.82[4500]->1.62.251.118[4500] (in_use=1)
 19:31:47 ipsec,debug KA removing this one...

Did you import both your certificate and its private key? If you check it, does it have “K” flag?

Did you put Subject alt name in your server cert and client cert ?