STUN Implementation

[Scraft]

I am looking for the smallest client-side library for establishing a STUN connection between two peers. I already have a messaging server, and already have a TURN style fallback for when STUN cannot be established. However, it isn't clear to me whether libsourcey provides a simple way to make the STUN attempt? I am looking for something along the line of:

stun-server.cpp
// implementation of a server which facilitates with connecting peers

stun-client.cpp
// peer A. make an offer via messaging server.
// peer B. accept the offer and send the answer via messaging server.
// peer A. make connection attempt via stun-server
// peer B. make connection attempt via stun-server
// ....
// peer A + peer B. either establish a connection or know STUN isn't possible

It sounds like there used to be a full ICE example, and also there is talk that any ICE stuff now is done via WebRTC. I wish to deploy on devices where build size and runtime code footprint is somewhat important, so I would love to avoid having huge dependencies to achieve a STUN connection between peers.

If libsourcey doesn't provide a STUN only solution but does provide a full ICE solution (outside of WebRTC) I'd also be interested in that as a starting point. Right now it seems like a bit of a minefield for being able to just connect two peers.