External WebRTC Access

Is there a way to get access to the WEBRTC stream externally? If so, how can that be achieved?

Currently using mediasoup version 3.6.98

Yes, you can use Ffmpeg or Gstreamer to get direct access to the WebRTC stream of producer. You can check out this record demo for further details

This is super vague, a sending/receiving media server does just that via direct IP/PORT and a forwarding mechanism to assign the connection. Stick to demo’s and documentation to learn.

HLS is optional but does come down to your application needs (that’s if you want GSTREAMER/FFMPEG involved for recording or live playlist).