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Juggling multiple "home" sections with different families and work setups can definitely get complicated.
It's impressive how you've tackled it by creating VLANs for each home and the company, keeping things organized while respecting privacy. And kudos for considering the autonomy of each family in managing their devices.
When it comes to managing such a diverse network, have you considered the potential benefits of a 4G/5G proxy? It could provide a versatile solution for ensuring secure connections and managing network traffic, especially with the varied devices and setups you're dealing with.

From what you've described, it seems like a routing or firewall issue. Your TCP dumps show communication going one way, which might indicate that the traffic is getting blocked somewhere.
First, double-check your VPN settings and make sure it allows bidirectional traffic. Also, take a look at any firewalls along the route – they might be causing the audio to get lost. As you mentioned, your network configurations and Asterisk settings seem fine, so the culprit might be in the VPN setup.
If you're up for trying out a different softphone app, Acrobits has been known to handle such situations quite well. I suppose it can be a solution for you.