Thanks for the info re: Chrome on IOS. While I am not in a good position to debug the Safari/IOS problem I do find the same error message:
using Chrome on Windows 7.
(Not sure why JSON.stringify() cannot stringify that object, but....
sdp: "v=0
↵o=- 1536119198698341 1 IN IP4 52.33.68.168
↵s=Mountpoint 2795358934971573
↵t=0 0
↵a=group:BUNDLE audio video
↵a=msid-semantic: WMS janus
↵m=audio 9 UDP/TLS/RTP/SAVPF 97
↵c=IN IP4 52.33.68.168
↵a=sendonly
↵a=mid:audio
↵a=rtcp-mux
↵a=ice-ufrag:sy/t
↵a=ice-pwd:eohFOaRgPYiAo+Onipz93e
↵a=ice-options:trickle
↵a=fingerprint:sha-256 D2:B9:31:8F:DF:24:D8:0E:ED:D2:EF:25:9E:AF:6F:B8:34:AE:53:9C:E6:F3:8F:F2:64:15:FA:E8:7F:53:2D:38
↵a=setup:actpass
↵a=rtpmap:97 PCMA/8000
↵a=fmtp:97
↵a=ssrc:1063350027 cname:janusaudio
↵a=ssrc:1063350027 msid:janus janusa0
↵a=ssrc:1063350027 mslabel:janus
↵a=ssrc:1063350027 label:janusa0
↵a=candidate:1 1 udp
2013266431 52.33.68.168 12594 typ host
↵a=candidate:2 1 udp
2013266430 52.33.68.168 12530 typ host
↵a=candidate:3 1 udp
2013266429 52.33.68.168 12474 typ host
↵a=candidate:4 1 udp
2013266428 52.33.68.168 12333 typ host
↵a=candidate:5 1 udp
2013266427 52.33.68.168 12595 typ host
↵a=candidate:6 1 udp
2013266426 52.33.68.168 12465 typ host
↵a=candidate:7 1 udp
2013266425 52.33.68.168 12515 typ host
↵a=candidate:8 1 udp
2013266424 52.33.68.168 12498 typ host
↵a=candidate:9 1 udp
2013266423 52.33.68.168 12708 typ host
↵a=candidate:10 1 udp
2013266422 52.33.68.168 12646 typ host
↵a=candidate:11 1 udp
2013266421 52.33.68.168 12418 typ host
↵a=candidate:12 1 udp
2013266420 52.33.68.168 12338 typ host
↵a=candidate:13 1 udp
2013266419 52.33.68.168 12295 typ host
↵a=candidate:14 1 udp
2013266418 52.33.68.168 12480 typ host
↵a=candidate:15 1 udp
2013266417 52.33.68.168 12441 typ host
↵a=candidate:16 1 udp
2013266416 52.33.68.168 12605 typ host
↵a=candidate:17 1 udp
2013266415 52.33.68.168 12362 typ host
↵a=candidate:18 1 udp
2013266414 52.33.68.168 12417 typ host
↵a=candidate:19 1 udp
2013266413 52.33.68.168 12740 typ host
↵a=candidate:20 1 udp
2013266412 52.33.68.168 12725 typ host
↵a=end-of-candidates
↵m=video 9 UDP/TLS/RTP/SAVPF 96
↵c=IN IP4 52.33.68.168
↵a=sendonly
↵a=mid:video
↵a=rtcp-mux
↵a=ice-ufrag:sy/t
↵a=ice-pwd:eohFOaRgPYiAo+Onipz93e
↵a=ice-options:trickle
↵a=fingerprint:sha-256 D2:B9:31:8F:DF:24:D8:0E:ED:D2:EF:25:9E:AF:6F:B8:34:AE:53:9C:E6:F3:8F:F2:64:15:FA:E8:7F:53:2D:38
↵a=setup:actpass
↵a=rtpmap:96 H264/90000
↵a=fmtp:96 packetization-mode=1;profile-level-id=4D001E;sprop-parameter-sets=Z00AHp2oKA9puAgICBA=,aO48gA==
↵a=rtcp-fb:96 nack
↵a=rtcp-fb:96 nack pli
↵a=rtcp-fb:96 goog-remb
↵a=candidate:1 1 udp
2013266431 52.33.68.168 12594 typ host
↵a=candidate:2 1 udp
2013266430 52.33.68.168 12530 typ host
↵a=candidate:3 1 udp
2013266429 52.33.68.168 12474 typ host
↵a=candidate:4 1 udp
2013266428 52.33.68.168 12333 typ host
↵a=candidate:5 1 udp
2013266427 52.33.68.168 12595 typ host
↵a=candidate:6 1 udp
2013266426 52.33.68.168 12465 typ host
↵a=candidate:7 1 udp
2013266425 52.33.68.168 12515 typ host
↵a=candidate:8 1 udp
2013266424 52.33.68.168 12498 typ host
↵a=candidate:9 1 udp
2013266423 52.33.68.168 12708 typ host
↵a=candidate:10 1 udp
2013266422 52.33.68.168 12646 typ host
↵a=candidate:11 1 udp
2013266421 52.33.68.168 12418 typ host
↵a=candidate:12 1 udp
2013266420 52.33.68.168 12338 typ host
↵a=candidate:13 1 udp
2013266419 52.33.68.168 12295 typ host
↵a=candidate:14 1 udp
2013266418 52.33.68.168 12480 typ host
↵a=candidate:15 1 udp
2013266417 52.33.68.168 12441 typ host
↵a=candidate:16 1 udp
2013266416 52.33.68.168 12605 typ host
↵a=candidate:17 1 udp
2013266415 52.33.68.168 12362 typ host
↵a=candidate:18 1 udp
2013266414 52.33.68.168 12417 typ host
↵a=candidate:19 1 udp
2013266413 52.33.68.168 12740 typ host
↵a=candidate:20 1 udp
2013266412 52.33.68.168 12725 typ host
↵a=end-of-candidates
↵"
type: "offer"