Hi Vijay,
Sorry for the delay. Yes, we (Farm Jenny LLC) use DFU over thread using router and end device firmware built on the nRF5 SDK and a Californium CoAP server running in a docker container on our custom Border Router.
The embedded side was much more involved. Nordic's DFU over Thread examples (from the nrf5 SDK) use their own CoAP implementation as they require features not implemented in OpenThread CoAP (like block-wise transfers). We used the CoAP from Nordic's deprecated IOT sdk. We chose to migrate all application-layer CoAP to this Nordic CoAP. Lots of work with Wireshark, lost of changes to the example DFU application code, some changes to the secure bootloader. There is also some logic needed to locate your DFU server and resolve its address so you can properly target it with unicast.
So, in summary, it can be done. I did it on the nrf5 SDK -- I'm sure it can be done with nRF Connect/Zephyr too, maybe with a mainstream CoAP library. Pretty big project ... too big to detail here. Please reach out directly or through our web site if you're interested in more significant support of a commercial project.
Best regards,
Rob Crouthamel
Farm Jenny LLC