And no, setting QoS bits on the packet will not help.
And no, setting QoS bits on the packet will not help.
Preferably to an endpoint destination that is some sort of server which isn't firewalling/rate limiting answering ICMP, and not a firewall or router.
You can see what looks like terrible loss and jitter to intermediate hops in a traceroute, but traffic to your your VoIP server that is 12.3ms away on the far side of those hops and several AS-to-AS adjacencies, might average 0.00% loss over multi week periods, with less than 0.3ms of jitter range.
Customers will also be advised to use other tools that can measure success/failure and RTT answer time of other services and daemons running on the endpoint they're testing against (at OSI layers 4-7), such as the various ways of measuring DNS lookup query time, or time to curl a sample file from an httpd over TLS1.2/1.3, and plot that on a multi day/week chart.
For their own protection routers and other network equipment with packets flowing through them deprioritize answering ICMP.
That's not correct. A box in the middle of the network path by definition doesn't respond at all to the ping request since it's not addressed to them. It's simply forwards the IP packet that encapsulates the ICMP echo request towards its destination. As forwarding happens in the data plane this doesn't involve the control plane at all. A router with no QoS will forward IP datagrams at the same rate whether they encapsulate TCP, UDP or ICMP.
"Forward as fast as possible" is indeed what they do. Respond to pings (to itself) that may be in those packets is further down the list.