Random connection issues with go2rtc on Wyze Cam v3 and Synology Surveillance Station

[MaxxyM13]

I'm running a Wyze Cam v3 (4.36.9.139) with wz_mini_hacks and use Synology Surveillance Station as a monitoring solution. With the v4l2rtspserver RTSP server the setup works fine and is very stable. But when I switch to go2rtc, Synology monitoring app starts randomly and frequently loosing connection to the camera.
What additional logging can I enable to troubleshoot this? Below is an extract from the go2rtc.log.

[h264 @ 0x77420450] non-existing PPS 0 referenced
[h264 @ 0x77420450] missing picture in access unit with size 228
[h264 @ 0x77420450] missing picture in access unit with size 32263
[h264 @ 0x77420450] non-existing PPS 0 referenced
[h264 @ 0x77420450] missing picture in access unit with size 876
[h264 @ 0x77420450] non-existing PPS 0 referenced
    Last message repeated 1 times
[h264 @ 0x77420450] decode_slice_header error
[h264 @ 0x77420450] no frame!
[video4linux2,v4l2 @ 0x77422820] decoding for stream 0 failed
[video4linux2,v4l2 @ 0x77422820] Could not find codec parameters for stream 0 (Video: h264, none, 1920x1080): unspecified pixel format
Consider increasing the value for the 'analyzeduration' (50) and 'probesize' (50) options
Input #0, video4linux2,v4l2, from '/dev/video1':
  Duration: N/A, bitrate: N/A
  Stream #0:0: Video: h264, none, 1920x1080, 30 fps, 30 tbr, 1000k tbn, 2000k tbc
Output #0, rtsp, to 'rtsp://127.0.0.1:8554/3ba820499deccf7796557c6a56681894':
  Metadata:
    encoder         : Lavf58.76.100

Stream mapping:
  Stream #0:0 -> #0:0 (copy)
Press [q] to stop, [?] for help
frame=    0 fps=0.0 q=-1.0 size=N/A time=00:00:00.00 bitrate=N/A speed=   0x    
[rtsp @ 0x7643f0e0] Timestamps are unset in a packet for stream 0. This is deprecated and will stop working in the future. Fix your code to set the timestamps properly
[rtp @ 0x7643f680] Timestamps are unset in a packet for stream 0. This is deprecated and will stop working in the future. Fix your code to set the timestamps properly
[NULL @ 0x77420450] non-existing SPS 2 referenced in buffering period
[NULL @ 0x77420450] non-existing SPS 8 referenced in buffering period
[NULL @ 0x77420450] Picture timing SEI payload too large
[NULL @ 0x77420450] non-existing PPS 0 referenced
Guessed Channel Layout for Input Stream #0.0 : mono
Input #0, alsa, from 'dsnooper0':
  Duration: N/A, start: 1704237783.475663, bitrate: 256 kb/s
  Stream #0:0: Audio: pcm_s16le, 16000 Hz, mono, s16, 256 kb/s
[udp @ 0x77bb4e20] attempted to set receive buffer to size 393216 but it only ended up set as 327680
[udp @ 0x77bce130] attempted to set receive buffer to size 393216 but it only ended up set as 327680
[rtsp @ 0x77bb2060] method SETUP failed: 461 Unsupported transport

Output #0, rtsp, to 'rtsp://127.0.0.1:8554/a3531bdb975041cb28b412d35fa90eb0':
  Metadata:
    encoder         : Lavf58.76.100
  Stream #0:0: Audio: pcm_s16le, 16000 Hz, mono, s16, 256 kb/s
Stream mapping:
  Stream #0:0 -> #0:0 (copy)
Press [q] to stop, [?] for help
size=N/A time=00:00:00.00 bitrate=N/A speed=   0x    
    Last message repeated 3 times
av_interleaved_write_frame(): Broken pipe
av_interleaved_write_frame(): Broken pipe
size=N/A time=00:00:00.10 bitrate=N/A speed=1.72x    
video:0kB audio:8kB subtitle:0kB other streams:0kB global headers:0kB muxing overhead: unknown
Conversion failed!
[NULL @ 0x77420450] non-existing PPS 0 referenced
frame=    7 fps=0.0 q=-1.0 Lsize=N/A time=00:00:00.00 bitrate=N/A speed=   0x    
video:1277kB audio:0kB subtitle:0kB other streams:0kB global headers:0kB muxing overhead: unknown
Conversion failed!