Yes, that's handled automatically by the libnice stack when using TCP.
You can find a pcap dump, together with a couple of additional documents that provide some more info, here:
janus-handle-info.txt is a dump of the info we collect in Janus for a handle (an abstraction of a PeerConnection attached to a feature, basically), so there you'll find both the SDPs, the local and remote candidates, and the pair that has been selected from Janus/libnice's perspective. The info also shows how the DTLS handshake was started but didn't complete, with some handshake data being sent but none received.
chrome-internals.txt is a snippet from webrtc-internals that shows how the selected pair and the transport were the same Janus came to for Chrome as well. I guess the important bit there is the "googReadable" still to false: not sure whether "googActiveConnection" just refers to the established connectivity or not, or whether "bytesReceived" just refers to audio/video/data bytes or handshake data as well.
Finally, janus-chrome-icetcp.pcap.pcapng is the actual dump of the messages being exchanged over the selected pair. You'll see how Chrome successfully connects to Janus, and sends connectivity checks that Janus (libnice) answers to. Intertwined with these exchanges, there are some DTLS Hello messages Janus is sending (219 bytes, which become 221 with the 2 bytes of framing header) and retransmitting as it's getting no response. Eventually, after about a minute I closed the PeerConnection and the TCP connection was shut down.
Not sure where the issue is: thinking about it, I only see libnice answering to connectivity checks over the TCP connection, and not generating any. DTLS is originated immediately after the first successful connectivity check. May it be that libnice assumes an ICE-TCP "channel" is ready as soon as the underlying TCP connection is established and a CC received, while Chrome expects to receive CCs as well which is never happening?
I hope this is enough data for helping you debug this. If not, let me know and I'll make sure I make more available. Anyway, the issue is easy enough to replicate, if you think it might be helpful: it's enough to install Janus somewhere (even locally on a laptop), disable UDP (e.g., via iptables) and have a browser connect to one of the demos (e.g., echotest).
Thanks!
Lorenzo