I sent this problem to D-Link Technical Support.
I thought I'd share this one here:
I am running Verizon VoiceWing with ZyXel Prestige P2302R.
Ok, remove the DMZ, then forward the PORTs. Leave the ALG disabled.
The port forward and the DMZ will conflict.
Then create a QoS for the VoIP device and you should be good.(Gamefuel Rule)
The Blocked outgoing ICMP packet (ICMP type 3) messages from the logs I believe is from Gamefuel.
Now, if you prioritize your VoIP over your game packets, kinda defeats the purpose of using a DGL-4500 for Gamefuel(QoS) in the first place.
I've tried using Firmware 1.02MS with not much luck either.
Going back to 1.02, all settings reset, the messages:
[INFO] SIP ALG rejected packet from xxx.xxx.xxx.xxx:12816
doesn't show up anymore and I get incoming calls just fine.
Not sure what happened, but it looks like before I got my VoIP, I configured my router the way I wanted it(opening ports for games), then I added VoIP and somehow didn't play well with DGL-4500.
Resetting the router back to 1.02 with default settings, while VoIP is connected and has a static IP, it works.