If the ASA's security policy denies all traffic except TCP/2000, the inspection would be needed to allow the child connections through after the initial TCP/2000 control channel establishes. You would also need to have the inspection enabled if the ASA is performing any NAT on the Skinny traffic.
The best tools to debug the Skinny inspection are debugging (7) level syslogs, 'debug skinny' output, and simultaneous, bi-directional packet captures taken on both sides of the ASA. I would recommend opening a TAC case for additional assistance if the above output doesn't make the issue more clear.
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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...