1. Fortinet FortiOS 7.0.2 SD-WAN Architecture for Enterprise Guide, Page 10, "Overlay and underlay networks". The document states, "The SD-WAN overlay is a virtual network built on top of underlay networks. The overlay consists of the tunnels that are established between the SD-WAN members." A diagram on the same page explicitly labels "IPsec Tunnels (Overlay)" running over "Underlay Networks".
2. Fortinet FortiOS 7.0.0 Administration Guide, "SD-WAN" chapter, "SD-WAN members" section. This section describes the interfaces that can be added as SD-WAN members. While it includes physical interfaces (for direct internet access), the context of inter-site connectivity, which defines the overlay, is achieved through tunnel interfaces like IPsec and GRE. The configuration examples for building the overlay consistently use IPsec tunnels.
3. Fortinet FortiOS 7.0.0 Cookbook, "Basic SD-WAN deployment" section. This guide demonstrates the standard procedure for building an SD-WAN overlay, which involves creating IPsec VPN tunnels between sites and then adding these tunnel interfaces as members to the SD-WAN interface. This confirms IPsec as a primary overlay link type.