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Soft phone compatibility with Twilio SIP Domains

For SIP Interfaces, you can use SIP registration to directly register a SIP endpoint/device to both place and receive calls.  Please see the related documentation: https://www.twilio.com/docs/api/twilio-sip/pv-sip-registration

For Elastic SIP Trunking, in order to receive calls, you would need to have a SIP Registar, such as a PBX, or else use a different SIP provider that provides SIP registration. You can then make calls through your Twilio Elastic SIP Trunk's SIP URI, and receive calls from a Twilio number to your SIP Registrar's SIP URI.  This is covered in detail here: https://www.twilio.com/docs/api/sip-trunking/getting-started

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