Can you provide the error messages that you are observing on the device as it will be easier to trace the reason for the udp teardown using the error message. With the error messages you can easily find the reason for the teardown.
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We have configured the outside and inside Interface with official ipv6 adresses, set a default route on outside Interface to our router, we also have definied a rule , which also gets hits, to permit tcp from inside Interface to any6.
In Syslog I also se...