David Alcott wrote:

Is there a way to configure the Asterisk so that the RTP goes directly between the Endpoints as opposed to going through the asterisk?

That is the default if Asterisk believes it will work. Things that might not make it work is tTwW options to Dial, protocol transation (one leg is SIP, the other is IAX2, transcoding, NAT, or many other things that make the two legs of the call not compatible with reinvites.
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