hi!
for reply, to pass rtpproxy_manage, look in this function (in your config it is not used, and onreply_route is not passed for replies) http://kamailio.org/docs/modules/4.2.x/modules/tm#tm.f.t_on_reply
about segfaults - provide more info
also can suggest, try using rtpengine instead of rtpproxy
cheers
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