I tried it, and it didn't make any difference.
I did some more detailed traces, and here's what happens regardless of whether the ";transport=UDP" is on the endpoint entry.
The Phone does an initial Invite, goes through the proxy authentication, then sends the final authenticated invite with SRTP in the request. The invite to the PBX does have the SRTP part of the SDP message stripped out and looks like a normal RTP SDP message. The PBX sends back a Trying, then OK with a SDP with an agreeing RTP SDP message back. dsiprouter is then just sending the same SDP payload as received from the PBX through to the phone without SRTP in the OK to the phone. The phone then ACKs and immediately BYEs the call because it is set up to only accept SRTP. If I configure the phone for optional or no SRTP, the call completes normally using RTP.
--Thomas Kelsey