diff --git a/client_play_test.go b/client_play_test.go
index 3aee5908..ef685ed4 100644
--- a/client_play_test.go
+++ b/client_play_test.go
@@ -1074,7 +1074,7 @@ func TestClientPlayAutomaticProtocol(t *testing.T) {
 				require.NoError(t, err)
 				require.Equal(t, base.Describe, req.Method)
 
-				err = v.ValidateRequest(req)
+				err = v.ValidateRequest(req, nil)
 				require.NoError(t, err)
 
 				err = conn.WriteResponse(&base.Response{
@@ -1188,7 +1188,7 @@ func TestClientPlayAutomaticProtocol(t *testing.T) {
 				require.Equal(t, base.Setup, req.Method)
 				require.Equal(t, mustParseURL("rtsp://localhost:8554/teststream/mediaID=0"), req.URL)
 
-				err = v.ValidateRequest(req)
+				err = v.ValidateRequest(req, nil)
 				require.NoError(t, err)
 
 				var inTH headers.Transport
diff --git a/client_test.go b/client_test.go
index bb3e8d43..64b3f061 100644
--- a/client_test.go
+++ b/client_test.go
@@ -180,7 +180,7 @@ func TestClientAuth(t *testing.T) {
 		require.NoError(t, err)
 		require.Equal(t, base.Describe, req.Method)
 
-		err = v.ValidateRequest(req)
+		err = v.ValidateRequest(req, nil)
 		require.NoError(t, err)
 
 		medias := media.Medias{testH264Media.Clone()}
diff --git a/pkg/auth/package_test.go b/pkg/auth/package_test.go
index f513d2c0..51c7fa0b 100644
--- a/pkg/auth/package_test.go
+++ b/pkg/auth/package_test.go
@@ -78,7 +78,7 @@ func TestAuth(t *testing.T) {
 
 				req.URL = mustParseURL("rtsp://myhost/mypath")
 
-				err = va.ValidateRequest(req)
+				err = va.ValidateRequest(req, nil)
 
 				if conf != "nofail" {
 					require.Error(t, err)
@@ -93,7 +93,7 @@ func TestAuth(t *testing.T) {
 func TestAuthVLC(t *testing.T) {
 	for _, ca := range []struct {
 		clientURL string
-		serverURL string
+		mediaURL  string
 	}{
 		{
 			"rtsp://myhost/mypath/",
@@ -115,11 +115,13 @@ func TestAuthVLC(t *testing.T) {
 			URL:    mustParseURL(ca.clientURL),
 		}
 		se.AddAuthorization(req)
+		req.URL = mustParseURL(ca.mediaURL)
 
-		req.URL = mustParseURL(ca.serverURL)
-
-		err = va.ValidateRequest(req)
+		err = va.ValidateRequest(req, mustParseURL(ca.clientURL))
 		require.NoError(t, err)
+
+		err = va.ValidateRequest(req, mustParseURL("rtsp://invalid"))
+		require.Error(t, err)
 	}
 }
 
@@ -155,7 +157,7 @@ func TestAuthHashed(t *testing.T) {
 			}
 			va.AddAuthorization(req)
 
-			err = se.ValidateRequest(req)
+			err = se.ValidateRequest(req, nil)
 
 			if conf != "nofail" {
 				require.Error(t, err)
diff --git a/pkg/auth/validator.go b/pkg/auth/validator.go
index 3f04d27f..fed83b33 100644
--- a/pkg/auth/validator.go
+++ b/pkg/auth/validator.go
@@ -11,34 +11,6 @@ import (
 	"github.com/aler9/gortsplib/v2/pkg/url"
 )
 
-func stringsReverseIndex(s, substr string) int {
-	for i := len(s) - 1 - len(substr); i >= 0; i-- {
-		if s[i:i+len(substr)] == substr {
-			return i
-		}
-	}
-	return -1
-}
-
-func generateAltURL(req *base.Request) (*url.URL, bool) {
-	if req.Method != base.Setup {
-		return nil, false
-	}
-
-	pathAndQuery, ok := req.URL.RTSPPathAndQuery()
-	if !ok {
-		return nil, false
-	}
-
-	i := stringsReverseIndex(pathAndQuery, "/trackID=")
-	if i < 0 {
-		return nil, false
-	}
-
-	ur, _ := url.Parse(req.URL.Scheme + "://" + req.URL.Host + "/" + pathAndQuery[:i+1])
-	return ur, true
-}
-
 // Validator allows to validate credentials generated by a Sender.
 type Validator struct {
 	user       string
@@ -113,7 +85,7 @@ func (va *Validator) Header() base.HeaderValue {
 }
 
 // ValidateRequest validates a request sent by a client.
-func (va *Validator) ValidateRequest(req *base.Request) error {
+func (va *Validator) ValidateRequest(req *base.Request, baseURL *url.URL) error {
 	var auth headers.Authorization
 	err := auth.Unmarshal(req.Header["Authorization"])
 	if err != nil {
@@ -179,10 +151,9 @@ func (va *Validator) ValidateRequest(req *base.Request) error {
 
 		if *auth.DigestValues.URI != ur.String() {
 			// in SETUP requests, VLC strips the control attribute.
-			// try again with an alternative URL without the control attribute.
-			if altURL, ok := generateAltURL(req); ok {
-				ur = altURL
-
+			// try again with the base URL.
+			if baseURL != nil {
+				ur = baseURL
 				if *auth.DigestValues.URI != ur.String() {
 					return fmt.Errorf("wrong URL")
 				}
diff --git a/pkg/auth/validator_test.go b/pkg/auth/validator_test.go
index cb2a89e1..646f06e2 100644
--- a/pkg/auth/validator_test.go
+++ b/pkg/auth/validator_test.go
@@ -64,7 +64,7 @@ func TestValidatorErrors(t *testing.T) {
 				Header: base.Header{
 					"Authorization": ca.hv,
 				},
-			})
+			}, nil)
 			require.EqualError(t, err, ca.err)
 		})
 	}
diff --git a/pkg/format/g711_test.go b/pkg/format/g711_test.go
index b3b977e9..6c774add 100644
--- a/pkg/format/g711_test.go
+++ b/pkg/format/g711_test.go
@@ -3,6 +3,7 @@ package format
 import (
 	"testing"
 
+	"github.com/pion/rtp"
 	"github.com/stretchr/testify/require"
 )
 
@@ -11,6 +12,7 @@ func TestG711Attributes(t *testing.T) {
 	require.Equal(t, "G711", format.String())
 	require.Equal(t, 8000, format.ClockRate())
 	require.Equal(t, uint8(8), format.PayloadType())
+	require.Equal(t, true, format.PTSEqualsDTS(&rtp.Packet{}))
 
 	format = &G711{
 		MULaw: true,
diff --git a/pkg/format/g722_test.go b/pkg/format/g722_test.go
index 39838e08..a9d8f1b4 100644
--- a/pkg/format/g722_test.go
+++ b/pkg/format/g722_test.go
@@ -3,6 +3,7 @@ package format
 import (
 	"testing"
 
+	"github.com/pion/rtp"
 	"github.com/stretchr/testify/require"
 )
 
@@ -11,6 +12,7 @@ func TestG722Attributes(t *testing.T) {
 	require.Equal(t, "G722", format.String())
 	require.Equal(t, 8000, format.ClockRate())
 	require.Equal(t, uint8(9), format.PayloadType())
+	require.Equal(t, true, format.PTSEqualsDTS(&rtp.Packet{}))
 }
 
 func TestG722Clone(t *testing.T) {
diff --git a/pkg/format/generic_test.go b/pkg/format/generic_test.go
index 05fe86c2..3427d92b 100644
--- a/pkg/format/generic_test.go
+++ b/pkg/format/generic_test.go
@@ -3,6 +3,7 @@ package format
 import (
 	"testing"
 
+	"github.com/pion/rtp"
 	"github.com/stretchr/testify/require"
 )
 
@@ -19,6 +20,7 @@ func TestGenericAttributes(t *testing.T) {
 	require.Equal(t, "Generic", format.String())
 	require.Equal(t, 90000, format.ClockRate())
 	require.Equal(t, uint8(98), format.PayloadType())
+	require.Equal(t, true, format.PTSEqualsDTS(&rtp.Packet{}))
 }
 
 func TestGenericClone(t *testing.T) {
diff --git a/pkg/format/h264_test.go b/pkg/format/h264_test.go
index 29cb6ad9..e7228b38 100644
--- a/pkg/format/h264_test.go
+++ b/pkg/format/h264_test.go
@@ -3,6 +3,7 @@ package format
 import (
 	"testing"
 
+	"github.com/pion/rtp"
 	"github.com/stretchr/testify/require"
 )
 
@@ -25,6 +26,22 @@ func TestH264Attributes(t *testing.T) {
 	require.Equal(t, []byte{0x09, 0x0A}, format.SafePPS())
 }
 
+func TestH264PTSEqualsDTS(t *testing.T) {
+	format := &H264{
+		PayloadTyp:        96,
+		SPS:               []byte{0x01, 0x02},
+		PPS:               []byte{0x03, 0x04},
+		PacketizationMode: 1,
+	}
+
+	require.Equal(t, true, format.PTSEqualsDTS(&rtp.Packet{
+		Payload: []byte{0x05},
+	}))
+	require.Equal(t, false, format.PTSEqualsDTS(&rtp.Packet{
+		Payload: []byte{0x01},
+	}))
+}
+
 func TestH264Clone(t *testing.T) {
 	format := &H264{
 		PayloadTyp:        96,
diff --git a/pkg/format/h265_test.go b/pkg/format/h265_test.go
index 7c9c14da..9174b30a 100644
--- a/pkg/format/h265_test.go
+++ b/pkg/format/h265_test.go
@@ -3,6 +3,7 @@ package format
 import (
 	"testing"
 
+	"github.com/pion/rtp"
 	"github.com/stretchr/testify/require"
 )
 
@@ -16,6 +17,7 @@ func TestH265Attributes(t *testing.T) {
 	require.Equal(t, "H265", format.String())
 	require.Equal(t, 90000, format.ClockRate())
 	require.Equal(t, uint8(96), format.PayloadType())
+	require.Equal(t, true, format.PTSEqualsDTS(&rtp.Packet{}))
 	require.Equal(t, []byte{0x01, 0x02}, format.SafeVPS())
 	require.Equal(t, []byte{0x03, 0x04}, format.SafeSPS())
 	require.Equal(t, []byte{0x05, 0x06}, format.SafePPS())
diff --git a/pkg/format/jpeg_test.go b/pkg/format/jpeg_test.go
index f78105da..3ef04bde 100644
--- a/pkg/format/jpeg_test.go
+++ b/pkg/format/jpeg_test.go
@@ -3,6 +3,7 @@ package format
 import (
 	"testing"
 
+	"github.com/pion/rtp"
 	"github.com/stretchr/testify/require"
 )
 
@@ -11,6 +12,7 @@ func TestJPEGAttributes(t *testing.T) {
 	require.Equal(t, "JPEG", format.String())
 	require.Equal(t, 90000, format.ClockRate())
 	require.Equal(t, uint8(26), format.PayloadType())
+	require.Equal(t, true, format.PTSEqualsDTS(&rtp.Packet{}))
 }
 
 func TestJPEGClone(t *testing.T) {
diff --git a/pkg/format/lpcm_test.go b/pkg/format/lpcm_test.go
index 05bd39b4..ebd9f226 100644
--- a/pkg/format/lpcm_test.go
+++ b/pkg/format/lpcm_test.go
@@ -3,6 +3,7 @@ package format
 import (
 	"testing"
 
+	"github.com/pion/rtp"
 	"github.com/stretchr/testify/require"
 )
 
@@ -16,6 +17,7 @@ func TestLPCMAttributes(t *testing.T) {
 	require.Equal(t, "LPCM", format.String())
 	require.Equal(t, 44100, format.ClockRate())
 	require.Equal(t, uint8(96), format.PayloadType())
+	require.Equal(t, true, format.PTSEqualsDTS(&rtp.Packet{}))
 }
 
 func TestTracLPCMClone(t *testing.T) {
diff --git a/pkg/format/mpeg2audio_test.go b/pkg/format/mpeg2audio_test.go
index 3c9f07ad..49aea3db 100644
--- a/pkg/format/mpeg2audio_test.go
+++ b/pkg/format/mpeg2audio_test.go
@@ -3,6 +3,7 @@ package format
 import (
 	"testing"
 
+	"github.com/pion/rtp"
 	"github.com/stretchr/testify/require"
 )
 
@@ -11,6 +12,7 @@ func TestMPEG2AudioAttributes(t *testing.T) {
 	require.Equal(t, "MPEG2-audio", format.String())
 	require.Equal(t, 90000, format.ClockRate())
 	require.Equal(t, uint8(14), format.PayloadType())
+	require.Equal(t, true, format.PTSEqualsDTS(&rtp.Packet{}))
 }
 
 func TestMPEG2AudioClone(t *testing.T) {
diff --git a/pkg/format/mpeg2video_test.go b/pkg/format/mpeg2video_test.go
index a6be4934..b754b314 100644
--- a/pkg/format/mpeg2video_test.go
+++ b/pkg/format/mpeg2video_test.go
@@ -3,6 +3,7 @@ package format
 import (
 	"testing"
 
+	"github.com/pion/rtp"
 	"github.com/stretchr/testify/require"
 )
 
@@ -11,6 +12,7 @@ func TestMPEG2VideoAttributes(t *testing.T) {
 	require.Equal(t, "MPEG2-video", format.String())
 	require.Equal(t, 90000, format.ClockRate())
 	require.Equal(t, uint8(32), format.PayloadType())
+	require.Equal(t, true, format.PTSEqualsDTS(&rtp.Packet{}))
 }
 
 func TestMPEG2VideoClone(t *testing.T) {
diff --git a/pkg/format/mpeg4audio_test.go b/pkg/format/mpeg4audio_test.go
index aa75e513..c245bab9 100644
--- a/pkg/format/mpeg4audio_test.go
+++ b/pkg/format/mpeg4audio_test.go
@@ -3,6 +3,7 @@ package format
 import (
 	"testing"
 
+	"github.com/pion/rtp"
 	"github.com/stretchr/testify/require"
 
 	"github.com/aler9/gortsplib/v2/pkg/mpeg4audio"
@@ -23,6 +24,7 @@ func TestMPEG4AudioAttributes(t *testing.T) {
 	require.Equal(t, "MPEG4-audio", format.String())
 	require.Equal(t, 48000, format.ClockRate())
 	require.Equal(t, uint8(96), format.PayloadType())
+	require.Equal(t, true, format.PTSEqualsDTS(&rtp.Packet{}))
 }
 
 func TestMPEG4AudioClone(t *testing.T) {
diff --git a/pkg/format/opus_test.go b/pkg/format/opus_test.go
index 36639657..a61aad58 100644
--- a/pkg/format/opus_test.go
+++ b/pkg/format/opus_test.go
@@ -3,6 +3,7 @@ package format
 import (
 	"testing"
 
+	"github.com/pion/rtp"
 	"github.com/stretchr/testify/require"
 )
 
@@ -15,6 +16,7 @@ func TestOpusAttributes(t *testing.T) {
 	require.Equal(t, "Opus", format.String())
 	require.Equal(t, 48000, format.ClockRate())
 	require.Equal(t, uint8(96), format.PayloadType())
+	require.Equal(t, true, format.PTSEqualsDTS(&rtp.Packet{}))
 }
 
 func TestTracOpusClone(t *testing.T) {
diff --git a/pkg/format/vorbis_test.go b/pkg/format/vorbis_test.go
index 473c74ca..13b6fe33 100644
--- a/pkg/format/vorbis_test.go
+++ b/pkg/format/vorbis_test.go
@@ -3,6 +3,7 @@ package format
 import (
 	"testing"
 
+	"github.com/pion/rtp"
 	"github.com/stretchr/testify/require"
 )
 
@@ -16,6 +17,7 @@ func TestVorbisAttributes(t *testing.T) {
 	require.Equal(t, "Vorbis", format.String())
 	require.Equal(t, 48000, format.ClockRate())
 	require.Equal(t, uint8(96), format.PayloadType())
+	require.Equal(t, true, format.PTSEqualsDTS(&rtp.Packet{}))
 }
 
 func TestTracVorbisClone(t *testing.T) {
diff --git a/pkg/format/vp8_test.go b/pkg/format/vp8_test.go
index 154f4a57..69447811 100644
--- a/pkg/format/vp8_test.go
+++ b/pkg/format/vp8_test.go
@@ -3,6 +3,7 @@ package format
 import (
 	"testing"
 
+	"github.com/pion/rtp"
 	"github.com/stretchr/testify/require"
 )
 
@@ -13,6 +14,7 @@ func TestVP8ttributes(t *testing.T) {
 	require.Equal(t, "VP8", format.String())
 	require.Equal(t, 90000, format.ClockRate())
 	require.Equal(t, uint8(99), format.PayloadType())
+	require.Equal(t, true, format.PTSEqualsDTS(&rtp.Packet{}))
 }
 
 func TestVP8Clone(t *testing.T) {
diff --git a/pkg/format/vp9_test.go b/pkg/format/vp9_test.go
index 5cc56b8e..9a24384f 100644
--- a/pkg/format/vp9_test.go
+++ b/pkg/format/vp9_test.go
@@ -3,6 +3,7 @@ package format
 import (
 	"testing"
 
+	"github.com/pion/rtp"
 	"github.com/stretchr/testify/require"
 )
 
@@ -13,6 +14,7 @@ func TestVP9Attributes(t *testing.T) {
 	require.Equal(t, "VP9", format.String())
 	require.Equal(t, 90000, format.ClockRate())
 	require.Equal(t, uint8(100), format.PayloadType())
+	require.Equal(t, true, format.PTSEqualsDTS(&rtp.Packet{}))
 }
 
 func TestVP9Clone(t *testing.T) {
diff --git a/pkg/h264/idrpresent_test.go b/pkg/h264/idrpresent_test.go
new file mode 100644
index 00000000..209f9c80
--- /dev/null
+++ b/pkg/h264/idrpresent_test.go
@@ -0,0 +1,17 @@
+package h264
+
+import (
+	"testing"
+
+	"github.com/stretchr/testify/require"
+)
+
+func TestIDRPresent(t *testing.T) {
+	require.Equal(t, true, IDRPresent([][]byte{
+		{0x05},
+		{0x07},
+	}))
+	require.Equal(t, false, IDRPresent([][]byte{
+		{0x01},
+	}))
+}
diff --git a/pkg/mpeg4audio/config_test.go b/pkg/mpeg4audio/config_test.go
index ecc6c573..d7606da1 100644
--- a/pkg/mpeg4audio/config_test.go
+++ b/pkg/mpeg4audio/config_test.go
@@ -67,6 +67,15 @@ var configCases = []struct {
 			CoreCoderDelay:     385,
 		},
 	},
+	{
+		"aac-lc 44.1khz 8 chans",
+		[]byte{0x12, 0x38},
+		Config{
+			Type:         ObjectTypeAACLC,
+			SampleRate:   44100,
+			ChannelCount: 8,
+		},
+	},
 	{
 		"sbr (he-aac v1) 44.1khz stereo",
 		[]byte{0x2b, 0x8a, 0x00},
@@ -90,6 +99,46 @@ func TestConfigUnmarshal(t *testing.T) {
 	}
 }
 
+func TestConfigUnmarshalErrors(t *testing.T) {
+	for _, ca := range []struct {
+		name string
+		enc  []byte
+		err  string
+	}{
+		{
+			"empty",
+			[]byte{},
+			"not enough bits",
+		},
+		{
+			"unsupported object type",
+			[]byte{0xF1},
+			"unsupported object type: 30",
+		},
+		{
+			"no sample rate index",
+			[]byte{0b00010000},
+			"not enough bits",
+		},
+		{
+			"invalid sample rate index",
+			[]byte{0b00010110, 0b10000000},
+			"invalid sample rate index (13)",
+		},
+		{
+			"channel config 0",
+			[]byte{0b00010100, 0b00000000},
+			"not yet supported",
+		},
+	} {
+		t.Run(ca.name, func(t *testing.T) {
+			var dec Config
+			err := dec.Unmarshal(ca.enc)
+			require.EqualError(t, err, ca.err)
+		})
+	}
+}
+
 func TestConfigMarshal(t *testing.T) {
 	for _, ca := range configCases {
 		t.Run(ca.name, func(t *testing.T) {
diff --git a/server_test.go b/server_test.go
index 8d3fa8a2..f1d6401b 100644
--- a/server_test.go
+++ b/server_test.go
@@ -1136,7 +1136,7 @@ func TestServerAuth(t *testing.T) {
 	s := &Server{
 		Handler: &testServerHandler{
 			onAnnounce: func(ctx *ServerHandlerOnAnnounceCtx) (*base.Response, error) {
-				err := authValidator.ValidateRequest(ctx.Request)
+				err := authValidator.ValidateRequest(ctx.Request, nil)
 				if err != nil {
 					return &base.Response{
 						StatusCode: base.StatusUnauthorized,