I found this information on the logitech circle API site:
"WebRTC is a multi-protocol standard allowing for peer-to-peer
transmission with end-to-end encryption. WebRTC is the preferred
protocol for doing live view of a Circle camera.
...
Camera-side WebRTC uses a native WebRTC stack running on the camera.
This stack is configured to allow for peer-to-peer calls running on both
UDP (STUN discovered), TCP / TLS transports (TURN discovered).
Camera-side WebRTC calls are real-time low latency. Only Circle 2
cameras running recent firmware (5.8.x series or later) support
Camera-side WebRTC."
They do not recommend using RTSP since that only streams from Logitech's cloud servers.
These might be a nice addition to the camect supported list. I must mention one caveat that concerns me in their documentation, they note that only one stream at a time can be handled locally so that if a second call is made to the camera, it switches that call automatically to the server side. Hmmm, must mean you have to turn off the Logitech cloud support to get permanent local connections.