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You must have set it up wrong. It doesn't add any latency, but you do need a higher bitrate to get similar quality.

I googled "opus packet loss" and found https://www.asterisk.org/asterisk-opus-packet-loss-fec/, which says "an Opus encoder can embed redundant data about the preceding packet in-band in the current packet". That method would cause 1 packet of delay. Are you using something different, or avoiding the delay through another method like tiny packets?

Here's probably the answer: https://opus-codec.org/docs/opus_api-1.2/group__opus__decode...

"Lost packets can be replaced with loss concealment by calling the decoder with a null pointer and zero length for the missing packet."

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