I got the same issue where AOR was not rechable, and I fixed adding the correct configuration for NAT support on the endpoint section
[transport-udp]
type=transport
protocol=udp
bind=0.0.0.0:5065
local_net=192.168.0.0/8
[6001]
type=endpoint
context=internal
disallow=all
allow=ulaw
auth=6001
aors=6001
direct_media=no
rtp_symmetric=yes
force_rport=yes
rewrite_contact=yes ; necessary if endpoint does not know/register public ip:port
ice_support=yes ;This is specific to clients that support NAT traversal
send_pai=yes
transport=transport-udp
[6001]
type=auth
auth_type=userpass
password=193012@
username=6001
[6001]
type=aor
max_contacts= 2
qualify_frequency=1 ; Interval at which to qualify an AoR (default: "0")
authenticate_qualify=no
remove_existing=yes
maximum_expiration=7200 ; Maximum time to keep an AoR (default: "7200")
minimum_expiration=6000 ; Minimum keep alive time for an AoR (default: "60")