IIRC, MSRP relay is like a TURN server for RTP, not like a RTPProxy. So the UA has to use MSRP to connect to the MSRP server (relay), authenticate with it independent of the SIP signaling and set the MSRP server address in the SDP when UA creates the SDP. When I tested long time ago, the UA (iirc Bria) had option to set the MSRP address in its config

Maybe there are new specs that will allow what you suggest, as I haven't really followed the MSRP standardization development, but the RTPProxy approach is not a standard, is just an workaround. If you have pointers for the (new) specs, paste links to them here.

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