Hi, Why not to do little bit diffrently?
- Server boots into unencrypted kernel with ssh server (it has just that ssh server)
- Then you connect remotely via ssh and provide password (unlock encrypted disks etc)
- Then system boots to encrypted environment which you unlocked at step 2
- profit
No second pc/raspberry is required
I have this done with luks on Debian: https://hamy.io/post/0009/how-to-install-luks-encrypted-ubuntu-18.04.x-server-and-enable-remote-unlocking/ I think you can adapt something similar to your freebsd
Quick google search found:
https://forums.freebsd.org/threads/encrypted-root-with-unencrypted-preboot-and-reboot-r.74378/