Looking at Asterisk 20 Function_PJSIP_ENDPOINT - Asterisk Project - Asterisk Project Wiki and the rtp_timeout. Settings it to 5 seconds it works perfectly.
res_pjsip_sdp_rtp.c:146 rtp_check_timeout: Disconnecting channel 'PJSIP/1D11C1D0-508F-4F77-8A73-20BB49D6321E-0000002d' for lack of audio RTP activity in 5 seconds
Thank you