pfsense uses FreeBSD's fork of pf, which is years out of date. They forked in order to add multithreading, ostensibly for performance. But the diff is too complicated to keep rebasing on top of upstream, so they're stuck with a pf from 2009.
Here are a few resources to get you started. You'll learn plenty about routing!
https://www.openbsd.org/faq/pf/example1.html
https://www.22decembre.eu/2016/05/27/openbsd-router-en/
Compared to Linux, OpenBSD is starkly minimal. It can be a little bewildering when common programs seem to be missing, but the man pages are outstanding. And the system is very simple and reliable. Config files are almost comically short. My /etc/hostname.re0 config is just five bytes: `dhcp\n`.