I had to disable SIP ALG on both my ISP router and on my Asus router (I have double NAT that works fine), in order for VoIP to work on UDP 5060. Previously, I had to bridge the ISP router before it got a firmware update that has a setting to disable SIP ALG. GL-iNet should really provide an setting to disable SIP ALG on their routers.
I have a Grandstream HT802, which replaced a Cisco SPA112 that used to freeze sometimes. With either over ~10 years, I never had to set up port forwarding, nor STUN, and it registers with my VoIP provider voip.ms every 30 seconds with reliable service.
I do not work for and I do not have formal association with GL.iNet