Projects that build routers and firewalls using FreeBSD include:
OPNsense
It is a solution that uses a PC or server and has a WEB interface. It seems that I forked from m0n0wall (mono wall).
pfSense
It has a web interface as a solution that uses a server or a dedicated machine. It seems that I forked from m0n0wall. It is better than commercial.
SmallWall
It seems that I forked from m0n0wall, but development seems to have stopped.
Bastille
It seems to be a configuration management tool, but it seems to be possible to make NAT etc.
BSD Router Project
A solution using amd64 and i386.
ZRouter.org
A make-based build tool for modules with small mips and arm. Create an image in cross build. A wrapper for buildworld / buildkernel.
freebsd-wifi-build
https://github.com/freebsd/freebsd-wifi-build
A sh script-based build tool for small mips modules. Create an image in cross build. A wrapper for buildworld / buildkernel.
crochet
https://github.com/freebsd/crochet
It’s not a router project, but a build tool for arm boards such as Rasppies.