@miconda I think this is the relevant table in section 20 link

Seems to be pretty clear, if I read it correctly.

      -: The header field is not applicable.

   "Not applicable" means that the header
   field MUST NOT be present in a request.  If one is placed in a
   request by mistake, it MUST be ignored by the UAS receiving the
   request.  Similarly, a header field labeled "not applicable" for a
   response means that the UAS MUST NOT place the header field in the
   response, and the UAC MUST ignore the header field in the response.
      Header field          where   proxy ACK BYE CAN INV OPT REG
      ___________________________________________________________
      Contact                 R            o   -   -   m   o   o
      Contact                1xx           -   -   -   o   -   -
      Contact                2xx           -   -   -   m   o   o
      Contact                3xx      d    -   o   -   o   o   o
      Contact                485           -   o   -   o   o   o


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