go2rtc: `tapo://` connections: `WARNING: mpegts: buffer overflow`

I have two Tapo C110 cameras I want to use with 2-way audio. Both work correctly with RTSP, but when using the native tapo support for 2-way audio (tapo://XXX@<address>) the connection is unreliable / non-functional. I’ve observed:

• go2rtc logs continually filled with WARNING: mpegts: buffer overflow messages from both cameras.
• On one camera, it will work fine for a while (e.g. 10 minutes), and 2-way audio will get incrementally more delayed (i.e. latency between speaking and hearing increases over time) before it eventually stops working entirely. Restarting go2rtc will reset this cycle.
• On the second camera, I get no stream (webrtc/mse) or 2-way audio at all when using tapo://, just log spam.

Related (but other repo): https://github.com/AlexxIT/WebRTC/issues/448