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Nevermind - I finally got it working! It was an issue with the ports. Twilio was trying to connect using port 5060, but the current default installation of FreePBX has chansip using 5160 and chanpjsip using 5060. Twilio doesn't seem to work well with chan_pjsip, so I had to find...

I left this comment on YouTube as well. Sorry if I'm spamming, but I'm so frustrated right now:

I just followed along with this video and did exactly what you did, but I'm not able to make an inbound call to my Twilio number. Calling outbound works great, but...