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With the ability to replace the To-Path and From-Path headers and as long you replace both, you can relay between IPv4 and IPv6 with no problem.
As for the SDP, I did it in the routing script (using Lua), I used the sdpops.sdp_get_line_startswith to get the original path and textops.subst_body to replace the path and connection ip/port. I also recorded each session and respective replacement paths in htable vars (INVITE and on-reply callback). I use the Session-Expires header to set the expires for the htable stored data. Then on the MSRP route I fetch the stored data in htable data (using the session as key) to get the replace paths and call forward.
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