I also got GPG agent forwarding to work transparently and with improved security by forwarding a dynamically created unix socket instead of a TCP socket. It allows me to do remote code signing, as well as chain through a bastion host.
Aside from jamming up with ansible occasionally, the setup is reliable.
I've documented the process for my own reference as much as I could here (yep, a fifth guide): https://github.com/naggie/dotfiles/blob/master/etc/yubikey.m... -- see functions.sh in the same repository for some mechanisms to automatically manage gpg-agent and the sockets without getting deadlocked.
I hope someone finds this useful. I'll certainly be trying the opensc method here though, out of interest.