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libdatachannel
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Or use something specific like libdatachannel https://libdatachannel.org/
If you’re using WebRTC data channels in a client server config then infra is no more complex than a regular setup because the server will almost certainly have an external facing IP address.
People should really try using WebRTC as well because you can get the full pipeline setup for a toy demo in a couple of slow days. I did whilst also writing my own signalling server in Go without having used Go before!
It’s certainly not any more complex than rolling all the stuff the article is talking about on top of raw UDP.