At first look, this is not about async processing, but only suspending the transaction before doing the rtpproxy control command. There is no passing of a task to some async worker, nor resuming the transaction.

Practically your code does something like:

t_suspend();
rtpengine_offer()/_answer()/_delete();

Maybe you can just to use async_task_route() for INVITE:

https://www.kamailio.org/docs/modules/stable/modules/async.html#async.f.async_task_route

And use the rtpengine functions in the target routing block. It looks like what you want to implement inside rtpengine module, but you can achieve that by using async module.

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