> Is the following a valid example of a Contact in INVITE:

No; the missing brackets cause the parameters to decode as header
parameters instead of being part of the sip-uri.  This causes the '@' to
be an invalid header parameter character.  Similarly, "917163166" wouldn't
decode correctly as a "host".  I am assume that some decodes will
accommodate the invalid character usage; however the sip-uri won't decode
as the sender likely intended.

generic-param =  token [ EQUAL gen-value ]
gen-value     =  token / host / quoted-string

host        =  hostname / IPv4address / IPv6reference
hostname    =  *( domainlabel "." ) toplabel [ "." ]
domainlabel =  alphanum / alphanum *( alphanum / "-" ) alphanum
toplabel    =  ALPHA / ALPHA *( alphanum / "-" ) alphanum


> Contact: sip:917163166;phone-context=+34@10.31.255.134:5070;
> endpoint=192.168.126.12;transport=udp

<snip>

> Can you give me any normative references
> in support of the above ABNF.

The following RFC 3261 section 20 snippet indicates why the sender should
enclose within brackets.

"The Contact, From, and To header fields contain a URI.  If the URI
 contains a comma, question mark or semicolon, the URI MUST be
 enclosed in angle brackets (< and >).  Any URI parameters are
 contained within these brackets.  If the URI is not enclosed in angle
 brackets, any semicolon-delimited parameters are header-parameters,
 not URI parameters."

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