If TCP connections are used, RTP framing according to [RFC4571] MUST
be used, both for the RTP packets and for the DTLS packets used to
carry data channels.
I think the last part of this sentence, unintentionally excludes the DTLS handshake packets. The ICE TCP spec also specifies that the STUN connectivity checks are using RFC4571 framing. Thus, I think some reformulation of this sentence is in order.
From Magnus Westerlund in IETF LC review:
Section 3.4:
If TCP connections are used, RTP framing according to [RFC4571] MUST be used, both for the RTP packets and for the DTLS packets used to carry data channels.
I think the last part of this sentence, unintentionally excludes the DTLS handshake packets. The ICE TCP spec also specifies that the STUN connectivity checks are using RFC4571 framing. Thus, I think some reformulation of this sentence is in order.