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Sipdroid works with most generic SIP accounts and also works over 3G.

Do you find Sipdroid usable? I tried it and my call quality was horrible, even over wifi. The lag was seconds and the sound was totally garbled. Was entirely unusable on my Nexus/T-mo.

I don't use Sipdroid to make calls - but I use it to receive calls from a geographic number that I've set up via SIP.

I've found the quality to be pretty good - but I do only use it via wifi.

I signed up for a free geographic number from Sipgate, and set up sipdroid to automatically answer any calls that are made to it whenever I have connectivity.

I've found it's a fairly nice solution, as missed calls (e.g. when I don't have connectivity) are automatically taken care of by Sipgate's free answer service (and I'm sent the message as an mp3 via email).

I'm using it with an HTC Desire.

It works on 3G in countries other than the US.

It works on 3G in the US on the iPhone.

Is there some sort of workaround for root users that can fool it into thinking it's on WiFi?

A lot if you're travelling outside of your home country.

I think an alternative that works on 3G is FriendCaller and Fring.