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OK, thank you so much for bearing with me here @hawkeye217. It seems clear that the issue I was having with both of these cameras was in regards to the audio streams bundled with them.

cam5 was including pcm audio, I don't know why since it doesn't actually seem to have a working mic on it.

cam6 was originally set to emit an aac audio stream. however it seems (from using ffprobe and from seeing ffmpeg errors in the logs) the aac stream had malformed headers that ffmpeg was choking on. I switched it to emit a g.711 stream instead, which worked correctly with preset-record-generic-audio-aac.

here is what my working config blocks for go2rtc / ffmpeg / cameras look like now:

go2rtc:
  log:
  …

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