But honestly that seems to be getting ahead of the problem. The problem seems to be that even the initial packet of the incoming connection to the SIP server on the LAN is not even being allowed.
Does anyone have a working configuration for DNATting SIP from the Internet to a SIP server on their LAN that they want to share?
SIP is a whole art itself, but frequently is simple if you employ a recent UAC and UAS.
What you will find is that when forwarding traffic without a (destination IP) rewrite, the SIP server must recognise that it is authoritative for the federated domain for which it receives traffic. Sometimes also it disallows traffic from the wider Internet (0.0.0.0/0), safest if you have botnets probing your IP.
Without special config, it is likely authoritative for 10.75.22.8. But with additional config, it will accept and respond to traffic for 7.3.7.253. This extra config is often necessary, since rewriting the IP headers of the packet is only half of the work: the UAC will write the destination IP into SIP signalling, especially the (record-)route, to, (often the) from, and the R-URI headers, among others, unless you've set the UAC to use your WAN IP as proxy, and the LAN IP as domain. Proxy config at the UAC is simplest and allows you to set up some fake FQDN as your domain, and you set only a static forward rewriting dest IP of the signalling.
Some SIP UAC/UAS employ their own NAT mitigations, especially in route headers and tags, so it may serve best not to use any helpers. In this case, a static-forward of a range of available UDP media ports (to the UAS) is advised.
Yes, you are quite correct about the need to handle SDP ports and addresses and the like. But that is what the netfilter sip helper is supposed to do.
What seems to be going wrong here with firewall4 is that the initial packet to the router on port 5060 is not even being allowed into the router and of course therefore cannot establish a session that has the sip helper attached to it and also cannot be forwarded to the SIP server on the LAN.
This seems to be a bug in firewall4's handling of sip helpers on the WAN.
But your alternative suggestion is quite useful and most likely my path forward. Both my SIP server and clients support ICE which is it's own entire and comprehensive NAT jumping solution for SIP.