Sure.
Yes, Yate registers as a client on other server to receive calls -- it works. I use UDP (as a default option), but as I remember TCP gives the same result.
The issue is that Yate doesn't receive any audio before it sends any audio chunk to the server.
I collected Yate logs in 2 scenario, see it. First one (silent) with echo.py as is, another one (noise) with uncommented line os.write(4, os.urandom(1024))
in echo.py .