diff --git a/go.mod b/go.mod
index 73b262b0..3b52193f 100644
--- a/go.mod
+++ b/go.mod
@@ -5,7 +5,7 @@ go 1.18
 require (
 	code.cloudfoundry.org/bytefmt v0.0.0-20211005130812-5bb3c17173e5
 	github.com/abema/go-mp4 v0.8.0
-	github.com/aler9/gortsplib v0.0.0-20221101102023-dbb6934a3c3e
+	github.com/aler9/gortsplib v0.0.0-20221102164639-d3c23a849c83
 	github.com/asticode/go-astits v1.10.1-0.20220319093903-4abe66a9b757
 	github.com/fsnotify/fsnotify v1.4.9
 	github.com/gin-gonic/gin v1.8.1
diff --git a/go.sum b/go.sum
index f759da7c..52eb25d5 100644
--- a/go.sum
+++ b/go.sum
@@ -6,8 +6,8 @@ github.com/alecthomas/template v0.0.0-20190718012654-fb15b899a751 h1:JYp7IbQjafo
 github.com/alecthomas/template v0.0.0-20190718012654-fb15b899a751/go.mod h1:LOuyumcjzFXgccqObfd/Ljyb9UuFJ6TxHnclSeseNhc=
 github.com/alecthomas/units v0.0.0-20190924025748-f65c72e2690d h1:UQZhZ2O0vMHr2cI+DC1Mbh0TJxzA3RcLoMsFw+aXw7E=
 github.com/alecthomas/units v0.0.0-20190924025748-f65c72e2690d/go.mod h1:rBZYJk541a8SKzHPHnH3zbiI+7dagKZ0cgpgrD7Fyho=
-github.com/aler9/gortsplib v0.0.0-20221101102023-dbb6934a3c3e h1:x+EHN8/YHjG6NQM59WG+fdPmozyIarDZgJZymNbDmFE=
-github.com/aler9/gortsplib v0.0.0-20221101102023-dbb6934a3c3e/go.mod h1:BOWNZ/QBkY/eVcRqUzJbPFEsRJshwxaxBT01K260Jeo=
+github.com/aler9/gortsplib v0.0.0-20221102164639-d3c23a849c83 h1:Qn/TL5+Nm4g+IgQ1DODtu6oCve0plBiJsprbnLG3yfQ=
+github.com/aler9/gortsplib v0.0.0-20221102164639-d3c23a849c83/go.mod h1:BOWNZ/QBkY/eVcRqUzJbPFEsRJshwxaxBT01K260Jeo=
 github.com/aler9/writerseeker v0.0.0-20220601075008-6f0e685b9c82 h1:9WgSzBLo3a9ToSVV7sRTBYZ1GGOZUpq4+5H3SN0UZq4=
 github.com/aler9/writerseeker v0.0.0-20220601075008-6f0e685b9c82/go.mod h1:qsMrZCbeBf/mCLOeF16KDkPu4gktn/pOWyaq1aYQE7U=
 github.com/asticode/go-astikit v0.20.0 h1:+7N+J4E4lWx2QOkRdOf6DafWJMv6O4RRfgClwQokrH8=
diff --git a/internal/core/data.go b/internal/core/data.go
index 8653b5e9..cc29dd9d 100644
--- a/internal/core/data.go
+++ b/internal/core/data.go
@@ -7,20 +7,65 @@ import (
 )
 
 // data is the data unit routed across the server.
-// it must contain one or more of the following:
-// - a single RTP packet
-// - a group of H264 NALUs (grouped by timestamp)
-// - a single AAC AU
-type data struct {
-	trackID int
+type data interface {
+	getTrackID() int
+	getRTPPackets() []*rtp.Packet
+	getPTSEqualsDTS() bool
+}
+
+type dataGeneric struct {
+	trackID      int
+	rtpPackets   []*rtp.Packet
+	ptsEqualsDTS bool
+}
 
-	rtpPacket *rtp.Packet
+func (d *dataGeneric) getTrackID() int {
+	return d.trackID
+}
 
-	// timing
+func (d *dataGeneric) getRTPPackets() []*rtp.Packet {
+	return d.rtpPackets
+}
+
+func (d *dataGeneric) getPTSEqualsDTS() bool {
+	return d.ptsEqualsDTS
+}
+
+type dataH264 struct {
+	trackID      int
+	rtpPackets   []*rtp.Packet
 	ptsEqualsDTS bool
 	pts          time.Duration
+	nalus        [][]byte
+}
 
-	h264NALUs [][]byte
+func (d *dataH264) getTrackID() int {
+	return d.trackID
+}
+
+func (d *dataH264) getRTPPackets() []*rtp.Packet {
+	return d.rtpPackets
+}
+
+func (d *dataH264) getPTSEqualsDTS() bool {
+	return d.ptsEqualsDTS
+}
+
+type dataMPEG4Audio struct {
+	trackID    int
+	rtpPackets []*rtp.Packet
+	pts        time.Duration
+	aus        [][]byte
+}
+
+func (d *dataMPEG4Audio) getTrackID() int {
+	return d.trackID
+}
+
+func (d *dataMPEG4Audio) getRTPPackets() []*rtp.Packet {
+	return d.rtpPackets
+}
 
-	mpeg4AudioAU []byte
+func (d *dataMPEG4Audio) getPTSEqualsDTS() bool {
+	return true
 }
diff --git a/internal/core/hls_muxer.go b/internal/core/hls_muxer.go
index 3775b5e6..4059a079 100644
--- a/internal/core/hls_muxer.go
+++ b/internal/core/hls_muxer.go
@@ -14,7 +14,6 @@ import (
 	"github.com/aler9/gortsplib"
 	"github.com/aler9/gortsplib/pkg/mpeg4audio"
 	"github.com/aler9/gortsplib/pkg/ringbuffer"
-	"github.com/aler9/gortsplib/pkg/rtpmpeg4audio"
 	"github.com/gin-gonic/gin"
 
 	"github.com/aler9/rtsp-simple-server/internal/conf"
@@ -295,7 +294,6 @@ func (m *hlsMuxer) runInner(innerCtx context.Context, innerReady chan struct{})
 	videoTrackID := -1
 	var audioTrack *gortsplib.TrackMPEG4Audio
 	audioTrackID := -1
-	var aacDecoder *rtpmpeg4audio.Decoder
 
 	for i, track := range res.stream.tracks() {
 		switch tt := track.(type) {
@@ -314,13 +312,6 @@ func (m *hlsMuxer) runInner(innerCtx context.Context, innerReady chan struct{})
 
 			audioTrack = tt
 			audioTrackID = i
-			aacDecoder = &rtpmpeg4audio.Decoder{
-				SampleRate:       tt.Config.SampleRate,
-				SizeLength:       tt.SizeLength,
-				IndexLength:      tt.IndexLength,
-				IndexDeltaLength: tt.IndexDeltaLength,
-			}
-			aacDecoder.Init()
 		}
 	}
 
@@ -362,53 +353,12 @@ func (m *hlsMuxer) runInner(innerCtx context.Context, innerReady chan struct{})
 
 	writerDone := make(chan error)
 	go func() {
-		writerDone <- func() error {
-			var videoInitialPTS *time.Duration
-
-			for {
-				item, ok := m.ringBuffer.Pull()
-				if !ok {
-					return fmt.Errorf("terminated")
-				}
-				data := item.(*data)
-
-				if videoTrack != nil && data.trackID == videoTrackID {
-					if data.h264NALUs == nil {
-						continue
-					}
-
-					if videoInitialPTS == nil {
-						v := data.pts
-						videoInitialPTS = &v
-					}
-					pts := data.pts - *videoInitialPTS
-
-					err = m.muxer.WriteH264(time.Now(), pts, data.h264NALUs)
-					if err != nil {
-						return fmt.Errorf("muxer error: %v", err)
-					}
-				} else if audioTrack != nil && data.trackID == audioTrackID {
-					aus, pts, err := aacDecoder.Decode(data.rtpPacket)
-					if err != nil {
-						if err != rtpmpeg4audio.ErrMorePacketsNeeded {
-							m.log(logger.Warn, "unable to decode audio track: %v", err)
-						}
-						continue
-					}
-
-					for i, au := range aus {
-						err = m.muxer.WriteAAC(
-							time.Now(),
-							pts+time.Duration(i)*mpeg4audio.SamplesPerAccessUnit*
-								time.Second/time.Duration(audioTrack.ClockRate()),
-							au)
-						if err != nil {
-							return fmt.Errorf("muxer error: %v", err)
-						}
-					}
-				}
-			}
-		}()
+		writerDone <- m.runWriter(
+			videoTrack,
+			videoTrackID,
+			audioTrack,
+			audioTrackID,
+		)
 	}()
 
 	closeCheckTicker := time.NewTicker(closeCheckPeriod)
@@ -435,6 +385,68 @@ func (m *hlsMuxer) runInner(innerCtx context.Context, innerReady chan struct{})
 	}
 }
 
+func (m *hlsMuxer) runWriter(
+	videoTrack *gortsplib.TrackH264,
+	videoTrackID int,
+	audioTrack *gortsplib.TrackMPEG4Audio,
+	audioTrackID int,
+) error {
+	videoStartPTSFilled := false
+	var videoStartPTS time.Duration
+	audioStartPTSFilled := false
+	var audioStartPTS time.Duration
+
+	for {
+		item, ok := m.ringBuffer.Pull()
+		if !ok {
+			return fmt.Errorf("terminated")
+		}
+		data := item.(data)
+
+		if videoTrack != nil && data.getTrackID() == videoTrackID {
+			tdata := data.(*dataH264)
+
+			if tdata.nalus == nil {
+				continue
+			}
+
+			if !videoStartPTSFilled {
+				videoStartPTSFilled = true
+				videoStartPTS = tdata.pts
+			}
+			pts := tdata.pts - videoStartPTS
+
+			err := m.muxer.WriteH264(time.Now(), pts, tdata.nalus)
+			if err != nil {
+				return fmt.Errorf("muxer error: %v", err)
+			}
+		} else if audioTrack != nil && data.getTrackID() == audioTrackID {
+			tdata := data.(*dataMPEG4Audio)
+
+			if tdata.aus == nil {
+				continue
+			}
+
+			if !audioStartPTSFilled {
+				audioStartPTSFilled = true
+				audioStartPTS = tdata.pts
+			}
+			pts := tdata.pts - audioStartPTS
+
+			for i, au := range tdata.aus {
+				err := m.muxer.WriteAAC(
+					time.Now(),
+					pts+time.Duration(i)*mpeg4audio.SamplesPerAccessUnit*
+						time.Second/time.Duration(audioTrack.ClockRate()),
+					au)
+				if err != nil {
+					return fmt.Errorf("muxer error: %v", err)
+				}
+			}
+		}
+	}
+}
+
 func (m *hlsMuxer) handleRequest(req *hlsMuxerRequest) func() *hls.MuxerFileResponse {
 	atomic.StoreInt64(m.lastRequestTime, time.Now().UnixNano())
 
@@ -558,7 +570,7 @@ func (m *hlsMuxer) apiHLSMuxersList(req hlsServerAPIMuxersListSubReq) {
 }
 
 // onReaderData implements reader.
-func (m *hlsMuxer) onReaderData(data *data) {
+func (m *hlsMuxer) onReaderData(data data) {
 	m.ringBuffer.Push(data)
 }
 
diff --git a/internal/core/hls_source.go b/internal/core/hls_source.go
index 20c6a3e3..f2c178c2 100644
--- a/internal/core/hls_source.go
+++ b/internal/core/hls_source.go
@@ -79,21 +79,26 @@ func (s *hlsSource) run(ctx context.Context) error {
 	}
 
 	onVideoData := func(pts time.Duration, nalus [][]byte) {
-		stream.writeData(&data{
+		err := stream.writeData(&dataH264{
 			trackID:      videoTrackID,
 			ptsEqualsDTS: h264.IDRPresent(nalus),
 			pts:          pts,
-			h264NALUs:    nalus,
+			nalus:        nalus,
 		})
+		if err != nil {
+			s.Log(logger.Warn, "%v", err)
+		}
 	}
 
 	onAudioData := func(pts time.Duration, au []byte) {
-		stream.writeData(&data{
-			trackID:      audioTrackID,
-			ptsEqualsDTS: true,
-			pts:          pts,
-			mpeg4AudioAU: au,
+		err := stream.writeData(&dataMPEG4Audio{
+			trackID: audioTrackID,
+			pts:     pts,
+			aus:     [][]byte{au},
 		})
+		if err != nil {
+			s.Log(logger.Warn, "%v", err)
+		}
 	}
 
 	c, err := hls.NewClient(
diff --git a/internal/core/hls_source_test.go b/internal/core/hls_source_test.go
index e979b5ce..b0a3735f 100644
--- a/internal/core/hls_source_test.go
+++ b/internal/core/hls_source_test.go
@@ -14,6 +14,7 @@ import (
 	"github.com/aler9/gortsplib/pkg/url"
 	"github.com/asticode/go-astits"
 	"github.com/gin-gonic/gin"
+	"github.com/pion/rtp"
 	"github.com/stretchr/testify/require"
 )
 
@@ -136,11 +137,26 @@ func TestHLSSource(t *testing.T) {
 
 	c := gortsplib.Client{
 		OnPacketRTP: func(ctx *gortsplib.ClientOnPacketRTPCtx) {
-			require.Equal(t, [][]byte{
-				{0x07, 0x01, 0x02, 0x03},
-				{0x08},
-				{0x05},
-			}, ctx.H264NALUs)
+			require.Equal(t, &rtp.Packet{
+				Header: rtp.Header{
+					Version:        2,
+					Marker:         true,
+					PayloadType:    96,
+					SequenceNumber: ctx.Packet.SequenceNumber,
+					Timestamp:      ctx.Packet.Timestamp,
+					SSRC:           ctx.Packet.SSRC,
+					CSRC:           []uint32{},
+				},
+				Payload: []byte{
+					0x18,
+					0x00, 0x04,
+					0x07, 0x01, 0x02, 0x03, // SPS
+					0x00, 0x01,
+					0x08, // PPS
+					0x00, 0x01,
+					0x05, // ODR
+				},
+			}, ctx.Packet)
 			close(frameRecv)
 		},
 	}
diff --git a/internal/core/reader.go b/internal/core/reader.go
index 6a5dc2e5..ae12a68a 100644
--- a/internal/core/reader.go
+++ b/internal/core/reader.go
@@ -3,6 +3,6 @@ package core
 // reader is an entity that can read a stream.
 type reader interface {
 	close()
-	onReaderData(*data)
+	onReaderData(data)
 	apiReaderDescribe() interface{}
 }
diff --git a/internal/core/rpicamera_source.go b/internal/core/rpicamera_source.go
index 6926089c..d34b13f4 100644
--- a/internal/core/rpicamera_source.go
+++ b/internal/core/rpicamera_source.go
@@ -59,12 +59,15 @@ func (s *rpiCameraSource) run(ctx context.Context) error {
 			stream = res.stream
 		}
 
-		stream.writeData(&data{
+		err := stream.writeData(&dataH264{
 			trackID:      0,
 			ptsEqualsDTS: h264.IDRPresent(nalus),
 			pts:          dts,
-			h264NALUs:    nalus,
+			nalus:        nalus,
 		})
+		if err != nil {
+			s.Log(logger.Warn, "%v", err)
+		}
 	}
 
 	cam, err := rpicamera.New(s.params, onData)
diff --git a/internal/core/rtmp_conn.go b/internal/core/rtmp_conn.go
index 2be09848..8641a316 100644
--- a/internal/core/rtmp_conn.go
+++ b/internal/core/rtmp_conn.go
@@ -14,7 +14,6 @@ import (
 	"github.com/aler9/gortsplib/pkg/h264"
 	"github.com/aler9/gortsplib/pkg/mpeg4audio"
 	"github.com/aler9/gortsplib/pkg/ringbuffer"
-	"github.com/aler9/gortsplib/pkg/rtpmpeg4audio"
 	"github.com/notedit/rtmp/format/flv/flvio"
 
 	"github.com/aler9/rtsp-simple-server/internal/conf"
@@ -258,7 +257,6 @@ func (c *rtmpConn) runRead(ctx context.Context, u *url.URL) error {
 	videoTrackID := -1
 	var audioTrack *gortsplib.TrackMPEG4Audio
 	audioTrackID := -1
-	var aacDecoder *rtpmpeg4audio.Decoder
 
 	for i, track := range res.stream.tracks() {
 		switch tt := track.(type) {
@@ -277,13 +275,6 @@ func (c *rtmpConn) runRead(ctx context.Context, u *url.URL) error {
 
 			audioTrack = tt
 			audioTrackID = i
-			aacDecoder = &rtpmpeg4audio.Decoder{
-				SampleRate:       tt.Config.SampleRate,
-				SizeLength:       tt.SizeLength,
-				IndexLength:      tt.IndexLength,
-				IndexDeltaLength: tt.IndexDeltaLength,
-			}
-			aacDecoder.Init()
 		}
 	}
 
@@ -336,7 +327,11 @@ func (c *rtmpConn) runRead(ctx context.Context, u *url.URL) error {
 	// disable read deadline
 	c.nconn.SetReadDeadline(time.Time{})
 
-	var videoInitialPTS *time.Duration
+	videoStartPTSFilled := false
+	var videoStartPTS time.Duration
+	audioStartPTSFilled := false
+	var audioStartPTS time.Duration
+
 	videoFirstIDRFound := false
 	var videoStartDTS time.Duration
 	var videoDTSExtractor *h264.DTSExtractor
@@ -346,27 +341,25 @@ func (c *rtmpConn) runRead(ctx context.Context, u *url.URL) error {
 		if !ok {
 			return fmt.Errorf("terminated")
 		}
-		data := item.(*data)
+		data := item.(data)
+
+		if videoTrack != nil && data.getTrackID() == videoTrackID {
+			tdata := data.(*dataH264)
 
-		if videoTrack != nil && data.trackID == videoTrackID {
-			if data.h264NALUs == nil {
+			if tdata.nalus == nil {
 				continue
 			}
 
-			// video is decoded in another routine,
-			// while audio is decoded in this routine:
-			// we have to sync their PTS.
-			if videoInitialPTS == nil {
-				v := data.pts
-				videoInitialPTS = &v
+			if !videoStartPTSFilled {
+				videoStartPTSFilled = true
+				videoStartPTS = tdata.pts
 			}
-
-			pts := data.pts - *videoInitialPTS
+			pts := tdata.pts - videoStartPTS
 
 			idrPresent := false
 			nonIDRPresent := false
 
-			for _, nalu := range data.h264NALUs {
+			for _, nalu := range tdata.nalus {
 				typ := h264.NALUType(nalu[0] & 0x1F)
 				switch typ {
 				case h264.NALUTypeIDR:
@@ -389,7 +382,7 @@ func (c *rtmpConn) runRead(ctx context.Context, u *url.URL) error {
 				videoDTSExtractor = h264.NewDTSExtractor()
 
 				var err error
-				dts, err = videoDTSExtractor.Extract(data.h264NALUs, pts)
+				dts, err = videoDTSExtractor.Extract(tdata.nalus, pts)
 				if err != nil {
 					return err
 				}
@@ -403,7 +396,7 @@ func (c *rtmpConn) runRead(ctx context.Context, u *url.URL) error {
 				}
 
 				var err error
-				dts, err = videoDTSExtractor.Extract(data.h264NALUs, pts)
+				dts, err = videoDTSExtractor.Extract(tdata.nalus, pts)
 				if err != nil {
 					return err
 				}
@@ -412,7 +405,7 @@ func (c *rtmpConn) runRead(ctx context.Context, u *url.URL) error {
 				pts -= videoStartDTS
 			}
 
-			avcc, err := h264.AVCCMarshal(data.h264NALUs)
+			avcc, err := h264.AVCCMarshal(tdata.nalus)
 			if err != nil {
 				return err
 			}
@@ -430,25 +423,31 @@ func (c *rtmpConn) runRead(ctx context.Context, u *url.URL) error {
 			if err != nil {
 				return err
 			}
-		} else if audioTrack != nil && data.trackID == audioTrackID {
-			aus, pts, err := aacDecoder.Decode(data.rtpPacket)
-			if err != nil {
-				if err != rtpmpeg4audio.ErrMorePacketsNeeded {
-					c.log(logger.Warn, "unable to decode audio track: %v", err)
-				}
+		} else if audioTrack != nil && data.getTrackID() == audioTrackID {
+			tdata := data.(*dataMPEG4Audio)
+
+			if tdata.aus == nil {
 				continue
 			}
 
-			if videoTrack != nil && !videoFirstIDRFound {
-				continue
+			if !audioStartPTSFilled {
+				audioStartPTSFilled = true
+				audioStartPTS = tdata.pts
 			}
+			pts := tdata.pts - audioStartPTS
 
-			pts -= videoStartDTS
-			if pts < 0 {
-				continue
+			if videoTrack != nil {
+				if !videoFirstIDRFound {
+					continue
+				}
+
+				pts -= videoStartDTS
+				if pts < 0 {
+					continue
+				}
 			}
 
-			for i, au := range aus {
+			for i, au := range tdata.aus {
 				c.nconn.SetWriteDeadline(time.Now().Add(time.Duration(c.writeTimeout)))
 				err := c.conn.WriteMessage(&message.MsgAudio{
 					ChunkStreamID:   message.MsgAudioChunkStreamID,
@@ -559,12 +558,15 @@ func (c *rtmpConn) runPublish(ctx context.Context, u *url.URL) error {
 					conf.PPS,
 				}
 
-				rres.stream.writeData(&data{
+				err := rres.stream.writeData(&dataH264{
 					trackID:      videoTrackID,
 					ptsEqualsDTS: false,
 					pts:          tmsg.DTS + tmsg.PTSDelta,
-					h264NALUs:    nalus,
+					nalus:        nalus,
 				})
+				if err != nil {
+					c.log(logger.Warn, "%v", err)
+				}
 			} else if tmsg.H264Type == flvio.AVC_NALU {
 				if videoTrack == nil {
 					return fmt.Errorf("received an H264 packet, but track is not set up")
@@ -595,12 +597,15 @@ func (c *rtmpConn) runPublish(ctx context.Context, u *url.URL) error {
 					}
 				}
 
-				rres.stream.writeData(&data{
+				err = rres.stream.writeData(&dataH264{
 					trackID:      videoTrackID,
 					ptsEqualsDTS: h264.IDRPresent(validNALUs),
 					pts:          tmsg.DTS + tmsg.PTSDelta,
-					h264NALUs:    validNALUs,
+					nalus:        validNALUs,
 				})
+				if err != nil {
+					c.log(logger.Warn, "%v", err)
+				}
 			}
 
 		case *message.MsgAudio:
@@ -609,12 +614,14 @@ func (c *rtmpConn) runPublish(ctx context.Context, u *url.URL) error {
 					return fmt.Errorf("received an AAC packet, but track is not set up")
 				}
 
-				rres.stream.writeData(&data{
-					trackID:      audioTrackID,
-					ptsEqualsDTS: true,
-					pts:          tmsg.DTS,
-					mpeg4AudioAU: tmsg.Payload,
+				err := rres.stream.writeData(&dataMPEG4Audio{
+					trackID: audioTrackID,
+					pts:     tmsg.DTS,
+					aus:     [][]byte{tmsg.Payload},
 				})
+				if err != nil {
+					c.log(logger.Warn, "%v", err)
+				}
 			}
 		}
 	}
@@ -667,7 +674,7 @@ func (c *rtmpConn) authenticate(
 }
 
 // onReaderData implements reader.
-func (c *rtmpConn) onReaderData(data *data) {
+func (c *rtmpConn) onReaderData(data data) {
 	c.ringBuffer.Push(data)
 }
 
diff --git a/internal/core/rtmp_source.go b/internal/core/rtmp_source.go
index 7bdcde62..396d1efb 100644
--- a/internal/core/rtmp_source.go
+++ b/internal/core/rtmp_source.go
@@ -170,12 +170,15 @@ func (s *rtmpSource) run(ctx context.Context) error {
 							return fmt.Errorf("unable to decode AVCC: %v", err)
 						}
 
-						res.stream.writeData(&data{
+						err = res.stream.writeData(&dataH264{
 							trackID:      videoTrackID,
 							ptsEqualsDTS: h264.IDRPresent(nalus),
 							pts:          tmsg.DTS + tmsg.PTSDelta,
-							h264NALUs:    nalus,
+							nalus:        nalus,
 						})
+						if err != nil {
+							s.Log(logger.Warn, "%v", err)
+						}
 					}
 
 				case *message.MsgAudio:
@@ -184,12 +187,14 @@ func (s *rtmpSource) run(ctx context.Context) error {
 							return fmt.Errorf("received an AAC packet, but track is not set up")
 						}
 
-						res.stream.writeData(&data{
-							trackID:      audioTrackID,
-							ptsEqualsDTS: true,
-							pts:          tmsg.DTS,
-							mpeg4AudioAU: tmsg.Payload,
+						err := res.stream.writeData(&dataMPEG4Audio{
+							trackID: audioTrackID,
+							pts:     tmsg.DTS,
+							aus:     [][]byte{tmsg.Payload},
 						})
+						if err != nil {
+							s.Log(logger.Warn, "%v", err)
+						}
 					}
 				}
 			}
diff --git a/internal/core/rtsp_session.go b/internal/core/rtsp_session.go
index 5e549f5a..b0593b27 100644
--- a/internal/core/rtsp_session.go
+++ b/internal/core/rtsp_session.go
@@ -9,6 +9,7 @@ import (
 
 	"github.com/aler9/gortsplib"
 	"github.com/aler9/gortsplib/pkg/base"
+	"github.com/pion/rtp"
 
 	"github.com/aler9/rtsp-simple-server/internal/conf"
 	"github.com/aler9/rtsp-simple-server/internal/externalcmd"
@@ -342,7 +343,7 @@ func (s *rtspSession) onPause(ctx *gortsplib.ServerHandlerOnPauseCtx) (*base.Res
 }
 
 // onReaderData implements reader.
-func (s *rtspSession) onReaderData(data *data) {
+func (s *rtspSession) onReaderData(data data) {
 	// packets are routed to the session by gortsplib.ServerStream.
 }
 
@@ -378,21 +379,33 @@ func (s *rtspSession) apiSourceDescribe() interface{} {
 
 // onPacketRTP is called by rtspServer.
 func (s *rtspSession) onPacketRTP(ctx *gortsplib.ServerHandlerOnPacketRTPCtx) {
-	if ctx.H264NALUs != nil {
-		s.stream.writeData(&data{
+	var err error
+
+	switch s.announcedTracks[ctx.TrackID].(type) {
+	case *gortsplib.TrackH264:
+		err = s.stream.writeData(&dataH264{
 			trackID:      ctx.TrackID,
-			rtpPacket:    ctx.Packet,
+			rtpPackets:   []*rtp.Packet{ctx.Packet},
 			ptsEqualsDTS: ctx.PTSEqualsDTS,
-			pts:          ctx.H264PTS,
-			h264NALUs:    ctx.H264NALUs,
 		})
-	} else {
-		s.stream.writeData(&data{
+
+	case *gortsplib.TrackMPEG4Audio:
+		err = s.stream.writeData(&dataMPEG4Audio{
+			trackID:    ctx.TrackID,
+			rtpPackets: []*rtp.Packet{ctx.Packet},
+		})
+
+	default:
+		err = s.stream.writeData(&dataGeneric{
 			trackID:      ctx.TrackID,
-			rtpPacket:    ctx.Packet,
+			rtpPackets:   []*rtp.Packet{ctx.Packet},
 			ptsEqualsDTS: ctx.PTSEqualsDTS,
 		})
 	}
+
+	if err != nil {
+		s.log(logger.Warn, "%v", err)
+	}
 }
 
 // onDecodeError is called by rtspServer.
diff --git a/internal/core/rtsp_source.go b/internal/core/rtsp_source.go
index ef8bd9c5..355f90c0 100644
--- a/internal/core/rtsp_source.go
+++ b/internal/core/rtsp_source.go
@@ -11,6 +11,7 @@ import (
 
 	"github.com/aler9/gortsplib"
 	"github.com/aler9/gortsplib/pkg/base"
+	"github.com/pion/rtp"
 
 	"github.com/aler9/gortsplib/pkg/url"
 	"github.com/aler9/rtsp-simple-server/internal/conf"
@@ -143,21 +144,33 @@ func (s *rtspSource) run(ctx context.Context) error {
 			}()
 
 			c.OnPacketRTP = func(ctx *gortsplib.ClientOnPacketRTPCtx) {
-				if ctx.H264NALUs != nil {
-					res.stream.writeData(&data{
+				var err error
+
+				switch tracks[ctx.TrackID].(type) {
+				case *gortsplib.TrackH264:
+					err = res.stream.writeData(&dataH264{
 						trackID:      ctx.TrackID,
-						rtpPacket:    ctx.Packet,
+						rtpPackets:   []*rtp.Packet{ctx.Packet},
 						ptsEqualsDTS: ctx.PTSEqualsDTS,
-						pts:          ctx.H264PTS,
-						h264NALUs:    ctx.H264NALUs,
 					})
-				} else {
-					res.stream.writeData(&data{
+
+				case *gortsplib.TrackMPEG4Audio:
+					err = res.stream.writeData(&dataMPEG4Audio{
+						trackID:    ctx.TrackID,
+						rtpPackets: []*rtp.Packet{ctx.Packet},
+					})
+
+				default:
+					err = res.stream.writeData(&dataGeneric{
 						trackID:      ctx.TrackID,
-						rtpPacket:    ctx.Packet,
+						rtpPackets:   []*rtp.Packet{ctx.Packet},
 						ptsEqualsDTS: ctx.PTSEqualsDTS,
 					})
 				}
+
+				if err != nil {
+					s.Log(logger.Warn, "%v", err)
+				}
 			}
 
 			_, err = c.Play(nil)
diff --git a/internal/core/rtsp_source_test.go b/internal/core/rtsp_source_test.go
index b465c52e..73b8c372 100644
--- a/internal/core/rtsp_source_test.go
+++ b/internal/core/rtsp_source_test.go
@@ -1,14 +1,19 @@
 package core
 
 import (
+	"bytes"
 	"crypto/tls"
+	"net"
 	"os"
+	"strings"
 	"testing"
 	"time"
 
 	"github.com/aler9/gortsplib"
 	"github.com/aler9/gortsplib/pkg/auth"
 	"github.com/aler9/gortsplib/pkg/base"
+	"github.com/aler9/gortsplib/pkg/conn"
+	"github.com/aler9/gortsplib/pkg/headers"
 	"github.com/aler9/gortsplib/pkg/rtph264"
 	"github.com/aler9/gortsplib/pkg/url"
 	"github.com/pion/rtp"
@@ -237,11 +242,9 @@ func TestRTSPSourceNoPassword(t *testing.T) {
 }
 
 func TestRTSPSourceDynamicH264Params(t *testing.T) {
-	track := &gortsplib.TrackH264{
+	stream := gortsplib.NewServerStream(gortsplib.Tracks{&gortsplib.TrackH264{
 		PayloadType: 96,
-	}
-
-	stream := gortsplib.NewServerStream(gortsplib.Tracks{track})
+	}})
 	defer stream.Close()
 
 	s := gortsplib.Server{
@@ -340,3 +343,345 @@ func TestRTSPSourceDynamicH264Params(t *testing.T) {
 		require.Equal(t, []byte{8, 1}, h264Track.SafePPS())
 	}()
 }
+
+func TestRTSPSourceRemovePadding(t *testing.T) {
+	stream := gortsplib.NewServerStream(gortsplib.Tracks{&gortsplib.TrackH264{
+		PayloadType: 96,
+	}})
+	defer stream.Close()
+
+	s := gortsplib.Server{
+		Handler: &testServer{
+			onDescribe: func(ctx *gortsplib.ServerHandlerOnDescribeCtx) (*base.Response, *gortsplib.ServerStream, error) {
+				return &base.Response{
+					StatusCode: base.StatusOK,
+				}, stream, nil
+			},
+			onSetup: func(ctx *gortsplib.ServerHandlerOnSetupCtx) (*base.Response, *gortsplib.ServerStream, error) {
+				return &base.Response{
+					StatusCode: base.StatusOK,
+				}, stream, nil
+			},
+			onPlay: func(ctx *gortsplib.ServerHandlerOnPlayCtx) (*base.Response, error) {
+				return &base.Response{
+					StatusCode: base.StatusOK,
+				}, nil
+			},
+		},
+		RTSPAddress: "127.0.0.1:8555",
+	}
+	err := s.Start()
+	require.NoError(t, err)
+	defer s.Wait()
+	defer s.Close()
+
+	p, ok := newInstance("rtmpDisable: yes\n" +
+		"hlsDisable: yes\n" +
+		"paths:\n" +
+		"  proxied:\n" +
+		"    source: rtsp://127.0.0.1:8555/teststream\n")
+	require.Equal(t, true, ok)
+	defer p.Close()
+
+	time.Sleep(1 * time.Second)
+
+	packetRecv := make(chan struct{})
+
+	c := gortsplib.Client{
+		OnPacketRTP: func(ctx *gortsplib.ClientOnPacketRTPCtx) {
+			require.Equal(t, &rtp.Packet{
+				Header: rtp.Header{
+					Version:        2,
+					Marker:         true,
+					PayloadType:    96,
+					SequenceNumber: 123,
+					Timestamp:      45343,
+					SSRC:           563423,
+					CSRC:           []uint32{},
+				},
+				Payload: []byte{0x01, 0x02, 0x03, 0x04},
+			}, ctx.Packet)
+			close(packetRecv)
+		},
+	}
+
+	u, err := url.Parse("rtsp://127.0.0.1:8554/proxied")
+	require.NoError(t, err)
+
+	err = c.Start(u.Scheme, u.Host)
+	require.NoError(t, err)
+	defer c.Close()
+
+	tracks, baseURL, _, err := c.Describe(u)
+	require.NoError(t, err)
+
+	err = c.SetupAndPlay(tracks, baseURL)
+	require.NoError(t, err)
+
+	stream.WritePacketRTP(0, &rtp.Packet{
+		Header: rtp.Header{
+			Version:        2,
+			Marker:         true,
+			PayloadType:    96,
+			SequenceNumber: 123,
+			Timestamp:      45343,
+			SSRC:           563423,
+			Padding:        true,
+		},
+		Payload:     []byte{0x01, 0x02, 0x03, 0x04},
+		PaddingSize: 20,
+	}, true)
+
+	<-packetRecv
+}
+
+func TestRTSPSourceOversizedPackets(t *testing.T) {
+	l, err := net.Listen("tcp", "127.0.0.1:8555")
+	require.NoError(t, err)
+	defer l.Close()
+
+	connected := make(chan struct{})
+
+	serverDone := make(chan struct{})
+	defer func() { <-serverDone }()
+	go func() {
+		defer close(serverDone)
+
+		nconn, err := l.Accept()
+		require.NoError(t, err)
+		defer nconn.Close()
+		conn := conn.NewConn(nconn)
+
+		req, err := conn.ReadRequest()
+		require.NoError(t, err)
+		require.Equal(t, base.Options, req.Method)
+
+		err = conn.WriteResponse(&base.Response{
+			StatusCode: base.StatusOK,
+			Header: base.Header{
+				"Public": base.HeaderValue{strings.Join([]string{
+					string(base.Describe),
+					string(base.Setup),
+					string(base.Play),
+				}, ", ")},
+			},
+		})
+		require.NoError(t, err)
+
+		req, err = conn.ReadRequest()
+		require.NoError(t, err)
+		require.Equal(t, base.Describe, req.Method)
+
+		tracks := gortsplib.Tracks{&gortsplib.TrackH264{
+			PayloadType: 96,
+			SPS:         []byte{0x01, 0x02, 0x03, 0x04},
+			PPS:         []byte{0x01, 0x02, 0x03, 0x04},
+		}}
+
+		err = conn.WriteResponse(&base.Response{
+			StatusCode: base.StatusOK,
+			Header: base.Header{
+				"Content-Type": base.HeaderValue{"application/sdp"},
+			},
+			Body: tracks.Marshal(false),
+		})
+		require.NoError(t, err)
+
+		req, err = conn.ReadRequest()
+		require.NoError(t, err)
+		require.Equal(t, base.Setup, req.Method)
+
+		var inTH headers.Transport
+		err = inTH.Unmarshal(req.Header["Transport"])
+		require.NoError(t, err)
+
+		err = conn.WriteResponse(&base.Response{
+			StatusCode: base.StatusOK,
+			Header: base.Header{
+				"Transport": headers.Transport{
+					Delivery: func() *headers.TransportDelivery {
+						v := headers.TransportDeliveryUnicast
+						return &v
+					}(),
+					Protocol:       headers.TransportProtocolTCP,
+					InterleavedIDs: inTH.InterleavedIDs,
+				}.Marshal(),
+			},
+		})
+		require.NoError(t, err)
+
+		req, err = conn.ReadRequest()
+		require.NoError(t, err)
+		require.Equal(t, base.Play, req.Method)
+
+		err = conn.WriteResponse(&base.Response{
+			StatusCode: base.StatusOK,
+		})
+		require.NoError(t, err)
+
+		<-connected
+
+		byts, _ := rtp.Packet{
+			Header: rtp.Header{
+				Version:        2,
+				Marker:         true,
+				PayloadType:    96,
+				SequenceNumber: 123,
+				Timestamp:      45343,
+				SSRC:           563423,
+				Padding:        true,
+			},
+			Payload: []byte{0x01, 0x02, 0x03, 0x04},
+		}.Marshal()
+		err = conn.WriteInterleavedFrame(&base.InterleavedFrame{
+			Channel: 0,
+			Payload: byts,
+		}, make([]byte, 1024))
+		require.NoError(t, err)
+
+		byts, _ = rtp.Packet{
+			Header: rtp.Header{
+				Version:        2,
+				Marker:         true,
+				PayloadType:    96,
+				SequenceNumber: 124,
+				Timestamp:      45343,
+				SSRC:           563423,
+				Padding:        true,
+			},
+			Payload: bytes.Repeat([]byte{0x01, 0x02, 0x03, 0x04}, 2000/4),
+		}.Marshal()
+		err = conn.WriteInterleavedFrame(&base.InterleavedFrame{
+			Channel: 0,
+			Payload: byts,
+		}, make([]byte, 2048))
+		require.NoError(t, err)
+
+		byts, _ = rtp.Packet{
+			Header: rtp.Header{
+				Version:        2,
+				Marker:         true,
+				PayloadType:    96,
+				SequenceNumber: 125,
+				Timestamp:      45343,
+				SSRC:           563423,
+				Padding:        true,
+			},
+			Payload: []byte{0x01, 0x02, 0x03, 0x04},
+		}.Marshal()
+		err = conn.WriteInterleavedFrame(&base.InterleavedFrame{
+			Channel: 0,
+			Payload: byts,
+		}, make([]byte, 1024))
+		require.NoError(t, err)
+
+		req, err = conn.ReadRequest()
+		require.NoError(t, err)
+		require.Equal(t, base.Teardown, req.Method)
+
+		err = conn.WriteResponse(&base.Response{
+			StatusCode: base.StatusOK,
+		})
+		require.NoError(t, err)
+	}()
+
+	p, ok := newInstance("rtmpDisable: yes\n" +
+		"hlsDisable: yes\n" +
+		"paths:\n" +
+		"  proxied:\n" +
+		"    source: rtsp://127.0.0.1:8555/teststream\n" +
+		"    sourceProtocol: tcp\n")
+	require.Equal(t, true, ok)
+	defer p.Close()
+
+	time.Sleep(1 * time.Second)
+
+	packetRecv := make(chan struct{})
+	i := 0
+
+	c := gortsplib.Client{
+		OnPacketRTP: func(ctx *gortsplib.ClientOnPacketRTPCtx) {
+			switch i {
+			case 0:
+				require.Equal(t, &rtp.Packet{
+					Header: rtp.Header{
+						Version:        2,
+						Marker:         true,
+						PayloadType:    96,
+						SequenceNumber: 123,
+						Timestamp:      45343,
+						SSRC:           563423,
+						CSRC:           []uint32{},
+					},
+					Payload: []byte{0x01, 0x02, 0x03, 0x04},
+				}, ctx.Packet)
+
+			case 1:
+				require.Equal(t, &rtp.Packet{
+					Header: rtp.Header{
+						Version:        2,
+						Marker:         false,
+						PayloadType:    96,
+						SequenceNumber: 124,
+						Timestamp:      45343,
+						SSRC:           563423,
+						CSRC:           []uint32{},
+					},
+					Payload: append(
+						append([]byte{0x1c, 0x81, 0x02, 0x03, 0x04}, bytes.Repeat([]byte{0x01, 0x02, 0x03, 0x04}, 363)...),
+						[]byte{0x01, 0x02, 0x03}...,
+					),
+				}, ctx.Packet)
+
+			case 2:
+				require.Equal(t, &rtp.Packet{
+					Header: rtp.Header{
+						Version:        2,
+						Marker:         true,
+						PayloadType:    96,
+						SequenceNumber: 125,
+						Timestamp:      45343,
+						SSRC:           563423,
+						CSRC:           []uint32{},
+					},
+					Payload: append(
+						[]byte{0x1c, 0x41, 0x04},
+						bytes.Repeat([]byte{0x01, 0x02, 0x03, 0x04}, 135)...,
+					),
+				}, ctx.Packet)
+
+			case 3:
+				require.Equal(t, &rtp.Packet{
+					Header: rtp.Header{
+						Version:        2,
+						Marker:         true,
+						PayloadType:    96,
+						SequenceNumber: 126,
+						Timestamp:      45343,
+						SSRC:           563423,
+						CSRC:           []uint32{},
+					},
+					Payload: []byte{0x01, 0x02, 0x03, 0x04},
+				}, ctx.Packet)
+				close(packetRecv)
+			}
+			i++
+		},
+	}
+
+	u, err := url.Parse("rtsp://127.0.0.1:8554/proxied")
+	require.NoError(t, err)
+
+	err = c.Start(u.Scheme, u.Host)
+	require.NoError(t, err)
+	defer c.Close()
+
+	tracks, baseURL, _, err := c.Describe(u)
+	require.NoError(t, err)
+
+	err = c.SetupAndPlay(tracks, baseURL)
+	require.NoError(t, err)
+
+	close(connected)
+	<-packetRecv
+}
diff --git a/internal/core/stream.go b/internal/core/stream.go
index ac5c4722..711c76be 100644
--- a/internal/core/stream.go
+++ b/internal/core/stream.go
@@ -35,7 +35,7 @@ func (m *streamNonRTSPReadersMap) remove(r reader) {
 	delete(m.ma, r)
 }
 
-func (m *streamNonRTSPReadersMap) writeData(data *data) {
+func (m *streamNonRTSPReadersMap) writeData(data data) {
 	m.mutex.RLock()
 	defer m.mutex.RUnlock()
 
@@ -44,6 +44,12 @@ func (m *streamNonRTSPReadersMap) writeData(data *data) {
 	}
 }
 
+func (m *streamNonRTSPReadersMap) hasReaders() bool {
+	m.mutex.RLock()
+	defer m.mutex.RUnlock()
+	return len(m.ma) > 0
+}
+
 type stream struct {
 	nonRTSPReaders *streamNonRTSPReadersMap
 	rtspStream     *gortsplib.ServerStream
@@ -60,7 +66,7 @@ func newStream(tracks gortsplib.Tracks, generateRTPPackets bool) (*stream, error
 
 	for i, track := range s.rtspStream.Tracks() {
 		var err error
-		s.streamTracks[i], err = newStreamTrack(track, generateRTPPackets, s.writeDataInner)
+		s.streamTracks[i], err = newStreamTrack(track, generateRTPPackets)
 		if err != nil {
 			return nil, err
 		}
@@ -90,14 +96,19 @@ func (s *stream) readerRemove(r reader) {
 	}
 }
 
-func (s *stream) writeData(data *data) {
-	s.streamTracks[data.trackID].writeData(data)
-}
+func (s *stream) writeData(data data) error {
+	err := s.streamTracks[data.getTrackID()].onData(data, s.nonRTSPReaders.hasReaders())
+	if err != nil {
+		return err
+	}
 
-func (s *stream) writeDataInner(data *data) {
-	// forward to RTSP readers
-	s.rtspStream.WritePacketRTP(data.trackID, data.rtpPacket, data.ptsEqualsDTS)
+	// forward RTP packets to RTSP readers
+	for _, pkt := range data.getRTPPackets() {
+		s.rtspStream.WritePacketRTP(data.getTrackID(), pkt, data.getPTSEqualsDTS())
+	}
 
-	// forward to non-RTSP readers
+	// forward data to non-RTSP readers
 	s.nonRTSPReaders.writeData(data)
+
+	return nil
 }
diff --git a/internal/core/streamtrack.go b/internal/core/streamtrack.go
index 1a02ed58..de96f5b4 100644
--- a/internal/core/streamtrack.go
+++ b/internal/core/streamtrack.go
@@ -7,21 +7,21 @@ import (
 )
 
 type streamTrack interface {
-	writeData(*data)
+	onData(data, bool) error
 }
 
-func newStreamTrack(track gortsplib.Track, generateRTPPackets bool, writeDataInner func(*data)) (streamTrack, error) {
+func newStreamTrack(track gortsplib.Track, generateRTPPackets bool) (streamTrack, error) {
 	switch ttrack := track.(type) {
 	case *gortsplib.TrackH264:
-		return newStreamTrackH264(ttrack, generateRTPPackets, writeDataInner), nil
+		return newStreamTrackH264(ttrack, generateRTPPackets), nil
 
 	case *gortsplib.TrackMPEG4Audio:
-		return newStreamTrackMPEG4Audio(ttrack, generateRTPPackets, writeDataInner), nil
+		return newStreamTrackMPEG4Audio(ttrack, generateRTPPackets), nil
 
 	default:
 		if generateRTPPackets {
 			return nil, fmt.Errorf("we don't know how to generate RTP packets of track %+v", track)
 		}
-		return newStreamTrackGeneric(track, writeDataInner), nil
+		return newStreamTrackGeneric(), nil
 	}
 }
diff --git a/internal/core/streamtrack_generic.go b/internal/core/streamtrack_generic.go
index 5d202ad7..671c15b7 100644
--- a/internal/core/streamtrack_generic.go
+++ b/internal/core/streamtrack_generic.go
@@ -1,19 +1,33 @@
 package core
 
 import (
-	"github.com/aler9/gortsplib"
+	"fmt"
 )
 
-type streamTrackGeneric struct {
-	writeDataInner func(*data)
+const (
+	// 1500 (UDP MTU) - 20 (IP header) - 8 (UDP header)
+	maxPacketSize = 1472
+)
+
+type streamTrackGeneric struct{}
+
+func newStreamTrackGeneric() *streamTrackGeneric {
+	return &streamTrackGeneric{}
 }
 
-func newStreamTrackGeneric(track gortsplib.Track, writeDataInner func(*data)) *streamTrackGeneric {
-	return &streamTrackGeneric{
-		writeDataInner: writeDataInner,
+func (t *streamTrackGeneric) onData(dat data, hasNonRTSPReaders bool) error {
+	tdata := dat.(*dataGeneric)
+
+	pkt := tdata.rtpPackets[0]
+
+	// remove padding
+	pkt.Header.Padding = false
+	pkt.PaddingSize = 0
+
+	if pkt.MarshalSize() > maxPacketSize {
+		return fmt.Errorf("payload size (%d) is greater than maximum allowed (%d)",
+			pkt.MarshalSize(), maxPacketSize)
 	}
-}
 
-func (t *streamTrackGeneric) writeData(data *data) {
-	t.writeDataInner(data)
+	return nil
 }
diff --git a/internal/core/streamtrack_h264.go b/internal/core/streamtrack_h264.go
index ee02166a..14d0bd49 100644
--- a/internal/core/streamtrack_h264.go
+++ b/internal/core/streamtrack_h264.go
@@ -6,34 +6,97 @@ import (
 	"github.com/aler9/gortsplib"
 	"github.com/aler9/gortsplib/pkg/h264"
 	"github.com/aler9/gortsplib/pkg/rtph264"
+	"github.com/pion/rtp"
 )
 
+func rtpH264ExtractSPSPPS(pkt *rtp.Packet) ([]byte, []byte) {
+	if len(pkt.Payload) == 0 {
+		return nil, nil
+	}
+
+	typ := h264.NALUType(pkt.Payload[0] & 0x1F)
+
+	switch typ {
+	case h264.NALUTypeSPS:
+		return pkt.Payload, nil
+
+	case h264.NALUTypePPS:
+		return nil, pkt.Payload
+
+	case 24: // STAP-A
+		payload := pkt.Payload[1:]
+		var sps []byte
+		var pps []byte
+
+		for len(payload) > 0 {
+			if len(payload) < 2 {
+				break
+			}
+
+			size := uint16(payload[0])<<8 | uint16(payload[1])
+			payload = payload[2:]
+
+			if size == 0 || int(size) > len(payload) {
+				break
+			}
+
+			nalu := payload[:size]
+			payload = payload[size:]
+
+			typ = h264.NALUType(nalu[0] & 0x1F)
+
+			switch typ {
+			case h264.NALUTypeSPS:
+				sps = nalu
+
+			case h264.NALUTypePPS:
+				pps = nalu
+			}
+		}
+
+		return sps, pps
+
+	default:
+		return nil, nil
+	}
+}
+
 type streamTrackH264 struct {
-	track          *gortsplib.TrackH264
-	writeDataInner func(*data)
+	track *gortsplib.TrackH264
 
-	rtpEncoder *rtph264.Encoder
+	encoder *rtph264.Encoder
+	decoder *rtph264.Decoder
 }
 
 func newStreamTrackH264(
 	track *gortsplib.TrackH264,
 	generateRTPPackets bool,
-	writeDataInner func(*data),
 ) *streamTrackH264 {
 	t := &streamTrackH264{
-		track:          track,
-		writeDataInner: writeDataInner,
+		track: track,
 	}
 
 	if generateRTPPackets {
-		t.rtpEncoder = &rtph264.Encoder{PayloadType: 96}
-		t.rtpEncoder.Init()
+		t.encoder = &rtph264.Encoder{PayloadType: 96}
+		t.encoder.Init()
 	}
 
 	return t
 }
 
-func (t *streamTrackH264) updateTrackParameters(nalus [][]byte) {
+func (t *streamTrackH264) updateTrackParametersFromRTPPacket(pkt *rtp.Packet) {
+	sps, pps := rtpH264ExtractSPSPPS(pkt)
+
+	if sps != nil && !bytes.Equal(sps, t.track.SafeSPS()) {
+		t.track.SafeSetSPS(sps)
+	}
+
+	if pps != nil && !bytes.Equal(pps, t.track.SafePPS()) {
+		t.track.SafeSetPPS(pps)
+	}
+}
+
+func (t *streamTrackH264) updateTrackParametersFromNALUs(nalus [][]byte) {
 	for _, nalu := range nalus {
 		typ := h264.NALUType(nalu[0] & 0x1F)
 
@@ -105,40 +168,69 @@ func (t *streamTrackH264) remuxNALUs(nalus [][]byte) [][]byte {
 	return filteredNALUs
 }
 
-func (t *streamTrackH264) generateRTPPackets(dat *data) {
-	pkts, err := t.rtpEncoder.Encode(dat.h264NALUs, dat.pts)
+func (t *streamTrackH264) generateRTPPackets(tdata *dataH264) error {
+	pkts, err := t.encoder.Encode(tdata.nalus, tdata.pts)
 	if err != nil {
-		return
+		return err
 	}
 
-	lastPkt := len(pkts) - 1
-	for i, pkt := range pkts {
-		if i != lastPkt {
-			t.writeDataInner(&data{
-				trackID:   dat.trackID,
-				rtpPacket: pkt,
-			})
-		} else {
-			t.writeDataInner(&data{
-				trackID:      dat.trackID,
-				rtpPacket:    pkt,
-				ptsEqualsDTS: dat.ptsEqualsDTS,
-				pts:          dat.pts,
-				h264NALUs:    dat.h264NALUs,
-			})
-		}
-	}
+	tdata.rtpPackets = pkts
+	return nil
 }
 
-func (t *streamTrackH264) writeData(dat *data) {
-	if dat.h264NALUs != nil {
-		t.updateTrackParameters(dat.h264NALUs)
-		dat.h264NALUs = t.remuxNALUs(dat.h264NALUs)
-	}
+func (t *streamTrackH264) onData(dat data, hasNonRTSPReaders bool) error {
+	tdata := dat.(*dataH264)
+
+	if tdata.rtpPackets != nil {
+		pkt := tdata.rtpPackets[0]
+		t.updateTrackParametersFromRTPPacket(pkt)
+
+		if t.encoder == nil {
+			// remove padding
+			pkt.Header.Padding = false
+			pkt.PaddingSize = 0
+
+			// we need to re-encode since RTP packets exceed maximum size
+			if pkt.MarshalSize() > maxPacketSize {
+				v1 := pkt.SSRC
+				v2 := pkt.SequenceNumber
+				v3 := pkt.Timestamp
+				t.encoder = &rtph264.Encoder{
+					PayloadType:           pkt.PayloadType,
+					SSRC:                  &v1,
+					InitialSequenceNumber: &v2,
+					InitialTimestamp:      &v3,
+				}
+				t.encoder.Init()
+			}
+		}
+
+		// decode from RTP
+		if hasNonRTSPReaders || t.encoder != nil {
+			if t.decoder == nil {
+				t.decoder = &rtph264.Decoder{}
+				t.decoder.Init()
+			}
+
+			nalus, pts, err := t.decoder.Decode(pkt)
+			if err != nil {
+				return err
+			}
 
-	if dat.rtpPacket != nil {
-		t.writeDataInner(dat)
-	} else if dat.h264NALUs != nil {
-		t.generateRTPPackets(dat)
+			tdata.nalus = nalus
+			tdata.pts = pts
+
+			tdata.nalus = t.remuxNALUs(tdata.nalus)
+		}
+
+		// route packet as is
+		if t.encoder == nil {
+			return nil
+		}
+	} else {
+		t.updateTrackParametersFromNALUs(tdata.nalus)
+		tdata.nalus = t.remuxNALUs(tdata.nalus)
 	}
+
+	return t.generateRTPPackets(tdata)
 }
diff --git a/internal/core/streamtrack_mpeg4audio.go b/internal/core/streamtrack_mpeg4audio.go
index d6f69c20..774d96cb 100644
--- a/internal/core/streamtrack_mpeg4audio.go
+++ b/internal/core/streamtrack_mpeg4audio.go
@@ -1,58 +1,89 @@
 package core
 
 import (
+	"fmt"
+
 	"github.com/aler9/gortsplib"
 	"github.com/aler9/gortsplib/pkg/rtpmpeg4audio"
 )
 
 type streamTrackMPEG4Audio struct {
-	writeDataInner func(*data)
-
-	rtpEncoder *rtpmpeg4audio.Encoder
+	track   *gortsplib.TrackMPEG4Audio
+	encoder *rtpmpeg4audio.Encoder
+	decoder *rtpmpeg4audio.Decoder
 }
 
 func newStreamTrackMPEG4Audio(
 	track *gortsplib.TrackMPEG4Audio,
 	generateRTPPackets bool,
-	writeDataInner func(*data),
 ) *streamTrackMPEG4Audio {
 	t := &streamTrackMPEG4Audio{
-		writeDataInner: writeDataInner,
+		track: track,
 	}
 
 	if generateRTPPackets {
-		t.rtpEncoder = &rtpmpeg4audio.Encoder{
+		t.encoder = &rtpmpeg4audio.Encoder{
 			PayloadType:      96,
 			SampleRate:       track.ClockRate(),
 			SizeLength:       13,
 			IndexLength:      3,
 			IndexDeltaLength: 3,
 		}
-		t.rtpEncoder.Init()
+		t.encoder.Init()
 	}
 
 	return t
 }
 
-func (t *streamTrackMPEG4Audio) generateRTPPackets(dat *data) {
-	pkts, err := t.rtpEncoder.Encode([][]byte{dat.mpeg4AudioAU}, dat.pts)
+func (t *streamTrackMPEG4Audio) generateRTPPackets(tdata *dataMPEG4Audio) error {
+	pkts, err := t.encoder.Encode(tdata.aus, tdata.pts)
 	if err != nil {
-		return
+		return err
 	}
 
-	for _, pkt := range pkts {
-		t.writeDataInner(&data{
-			trackID:      dat.trackID,
-			rtpPacket:    pkt,
-			ptsEqualsDTS: true,
-		})
-	}
+	tdata.rtpPackets = pkts
+	return nil
 }
 
-func (t *streamTrackMPEG4Audio) writeData(dat *data) {
-	if dat.rtpPacket != nil {
-		t.writeDataInner(dat)
-	} else {
-		t.generateRTPPackets(dat)
+func (t *streamTrackMPEG4Audio) onData(dat data, hasNonRTSPReaders bool) error {
+	tdata := dat.(*dataMPEG4Audio)
+
+	if tdata.rtpPackets != nil {
+		pkt := tdata.rtpPackets[0]
+
+		// remove padding
+		pkt.Header.Padding = false
+		pkt.PaddingSize = 0
+
+		if pkt.MarshalSize() > maxPacketSize {
+			return fmt.Errorf("payload size (%d) is greater than maximum allowed (%d)",
+				pkt.MarshalSize(), maxPacketSize)
+		}
+
+		// decode from RTP
+		if hasNonRTSPReaders {
+			if t.decoder == nil {
+				t.decoder = &rtpmpeg4audio.Decoder{
+					SampleRate:       t.track.Config.SampleRate,
+					SizeLength:       t.track.SizeLength,
+					IndexLength:      t.track.IndexLength,
+					IndexDeltaLength: t.track.IndexDeltaLength,
+				}
+				t.decoder.Init()
+			}
+
+			aus, pts, err := t.decoder.Decode(pkt)
+			if err != nil {
+				return err
+			}
+
+			tdata.aus = aus
+			tdata.pts = pts
+		}
+
+		// route packet as is
+		return nil
 	}
+
+	return t.generateRTPPackets(tdata)
 }
diff --git a/internal/hls/muxer_variant_fmp4_segmenter.go b/internal/hls/muxer_variant_fmp4_segmenter.go
index 0fe85d88..312fc7a5 100644
--- a/internal/hls/muxer_variant_fmp4_segmenter.go
+++ b/internal/hls/muxer_variant_fmp4_segmenter.go
@@ -213,7 +213,7 @@ func (m *muxerVariantFMP4Segmenter) writeH264Entry(
 	}
 
 	// put samples into a queue in order to
-	// - allow to compute sample duration
+	// - compute sample duration
 	// - check if next sample is IDR
 	sample, m.nextVideoSample = m.nextVideoSample, sample
 	if sample == nil {
@@ -290,6 +290,9 @@ func (m *muxerVariantFMP4Segmenter) writeAAC(now time.Time, dts time.Duration, a
 		}
 
 		dts -= m.startDTS
+		if dts < 0 {
+			return nil
+		}
 	}
 
 	sample := &augmentedAudioSample{
@@ -299,8 +302,7 @@ func (m *muxerVariantFMP4Segmenter) writeAAC(now time.Time, dts time.Duration, a
 		dts: dts,
 	}
 
-	// put samples into a queue in order to
-	// allow to compute the sample duration
+	// put samples into a queue in order to compute the sample duration
 	sample, m.nextAudioSample = m.nextAudioSample, sample
 	if sample == nil {
 		return nil