Success. I have been successful in controlling the SDS200 via a routed connection (over the Internet) using Proscan on a remote PC, without having a computer co-located with the scanner. I had been able to view and control the scanner, but the audio was not making it through.
We have the following configuration:
SDS200 Ethernet <> Remote Mikrotik Router <> Internet <> Home Mikrotik Router <> PC running Proscan Server
The remote router is running OpenVPN-Client in bridged mode, and Home is running the OVPN Server. I am running 192.168.0/24 on the home LAN, and this configuration simply extends Layer 2 to the remote router's LAN. Scanner IP is 192.168.0.69...
When the remote router is powered up, it immediately establishes a permanent encrypted connection with the home router.
The key is to run your VPN connection in bridged mode (not routed) to place the scanner in the same broadcast domain. I am still not clear why the Uniden audio protocol did not like a routed connection, but this should work for now.
I need more time to determine how it handles latency, jitter and packet loss. However, since all the scanning work is being done by the SDS, and not by Proscan, this may not matter. I previously used Scanstar/Spectrum Manager (by Signal Intelligence) to remotely control receivers, but the application was designed to drive a "dumb" receiver, where each scanned channel was written to the receiver, one by one. Latency killed scan speed, so I was always forced to co-locate a laptop at a remote site, which is always a bad idea.
Greg