An additional point, I did try re-encoding the video rather than just coping the stream, the "No more outputs" error went away but the behaviour was the same, ffmpeg will exit when the connection to the camera is re-established. I would prefer to avoid re-encoding if possible since this will mean a hosting cost increase, the VPS this is running on is only just fast enough to do the re-encode so will need an upgrade to actually serve the streams.
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