nat = yes works for asterisk version 10 or later. From an asterisk 11, nat = yes is deprived. They said that nat = yes and nat = force_rport, comedia are the same. But I think both of them are different.
If we switch to nat = force_rport, comedia, the behavior seems fine, except for external users behind NAT. Our server is also located behind NAT.
NAT: ed , , NAT: ed , - , . nat = yes .
sip/config_parser.c, , , sip = yes auto_force_rport auto_comedia. force_rport, comedia .
nat = yes Asterisk, nat = force_rport, comedia. nat = yes nat = force_rport, comedia .