To further troubleshooting, I've ran UDP Broadcast Relay manually and can see MDNS broadcasts being relayed between the vlans. I can confirm this as I've ran Wireshark on both LAN & IOT Vlan's and can see the MDNS broadcasts. The interesting bit, is if I run Youtube app on my phone, I see the broadcast being replicated across the vlan, my Virgin media box (in IOT VLAN) answering the MDNS query, the answer then coming back to my LAN Vlan, and my phone never picks the answer backup. Its as if its ignored. If I leave wireshark running on the LAN vlan, I can intermittently see broadcasts originating from my Virgin Media box as it contains the answers for the MDNS queries.
Have you tried MDNS repeater? You can use it alongside UDPBR providing you don't use the same ports, mdns repeater uses port 5353 and 224.0.0.251