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Do this regardless of whether you have a dedicated IPv4 address or not:
* Set Steam Networking to always share your IP address for a faster connection. This will prioritize direct connections if they are possible.
Do this ONLY if you have a dedicated (also called public) IPv4 address (either static or dynamic) AND CAN open ports on your network:
* Forward UDP ports 27014, 27015, 27016, 27017, 27018, 27019, 27020, 27021, 27022, 27023, 27024, 27025, 27026, 27027, 27028, 27029, 27030, 3478, 4379, 4380. Otherwise, direct connections would be attempted by using STUN UDP hole punching which may or may not work (depends on the router).
* Do not use "Port Triggering". Port Triggering only applies if an outgoing connection is commenced beforehand, which does not work with how most peer-to-peer games perform netcode as a host. Port Triggering is intended for protocols that require server-to-client callbacks, such as FTP. Most peer-to-peer games as a host only accept incoming connections and do not perform callback connections.
* Forwarding ports will have no effect on connections that use CGNAT or Dual Stack Lite, because incoming connections will be dropped by the ISP due to their ambiguity.
If you have a dedicated IPv4 address AND forwarded the ports (see above):
* You can host without issues for other players. They can join you without using SDR whether they have a dedicated IPv4 address or not.
* You can join any game without issues, even if the host has CGNAT or Dual Stack Lite. Steam Networking will attempt a connection reversal, which means the host connects to you instead.
If you are behind CGNAT or Dual Stack Lite or cannot open ports on your network:
* Avoid hosting unless you KNOW that the players you play with all have a dedicated IPv4 address and forwarded the ports, otherwise SDR (which is buggy) is necessary.
* Avoid joining hosts that also have CGNAT or Dual Stack Lite because this makes SDR (which is buggy) necessary.
* Playing with randoms with this kind of connection flawlessly is hard. It hinges on a lot of circumstances. Ideally, you might be better off just joining and hoping that the host did the above steps.
Therefore, the methodology is to avoid using Steam Datagram Relay by performing the settings above.
Unless Valve finally picks up on the issues with SDR, or until Ghost Ship Games adds IPv6 support (never going to happen), there is no other solution to the problem at hand.
You seem to know alot about both internet and DRG, why did they not add IPV6 support? The overwhelming majority of games support it as far as I know.
For the Steam version, DRG uses Steamworks Networking which includes Steam Datagram Relay. This doesn't support IPv6 by itself. Another game that uses Steamworks Networking is Vermintide 2, which in addition has direct IPv6 connectivity as an alternative to SDR, but that's as far as I know not part of SDR.
For the XBox/MS Store version, it's XBox Live which uses Microsoft Teredo relays to give IPv6 connectivity to CGNAT connections if a direct IPv4 connection fails.
For the Playstation version, it's the Playstation Network which does not offer any kind of relay at all.