Well explained, Thank so much for your answer.
Can unwanted traffic like STUN or unauthenticated RTCP cause the "Too many packets in UDP receive queue" error? Do you know of any other possible causes?
All types of packets should be processed swiftly and immediately without the thread getting blocked, so no, they should not lead to the receive queue getting full.
If you use a Redis HA backend, a slowly responding Redis server could cause threads getting blocked.
If you can reproduce this, or if it occurs often enough, you can try Wiresharking the network and see if you can identify the packets in question, or possibly run rtpengine under strace, although that's more intrusive and so probably not an option for loaded production systems.
Cheers