Direct SIP Call Without Server

[jc2020]

I'm looking to have two ESP32 devices, which are connected to the same local network, to call each other.

I can do this currently with the VOIP example in the ADF but it requires a PBX server to route the calls.

My wish is to have the SIP calls happen without the PBX server, from one esp32 directly to another.

Is this possible with the current ADF/IDF frameworks?

Any directions would be appreciated.