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This is fixed by #1861. You also need to remove video_codec, audio_codec and video_bitrate from the query, since they are needed by browsers only and have no effect on GStreamer:

gst-launch-1.0 videotestsrc ! "video/x-raw,size=1920x1080,rate=30" \
! videoconvert ! queue ! vp8enc ! rtpvp8pay pt=96 ssrc=2 \
! queue ! "application/x-rtp,media=video,encoding-name=VP8,payload=96,clock-rate=90000" \
! whipsink whip-endpoint="http://127.0.0.1:8889/streamtest/whip"

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