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Yes. This is very easy to install using PFsense inside a virtual machine.

Here's a guide that is recent and I can confirm that it works:

http://www.malwaretech.com/2015/08/creating-ultimate-tor-vir...

Is this basically the same as what Whonix does (routing through a dedicated gateway VM)?

It looks like it, but with pfsense you get more control I think. I have several more segments (read: virtual adapters) that route through a VPN or just from my home ip.

So then I can go to mange>adapter settings>lan segments in my vmware settings and change my upstream gateway. This is all 100% transparent to the programs running inside the VM (only problem is that not all protocols support being routed in this sense).

But tcp works, as does DNS over tcp, so most programs you use will work.

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