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If you are using K8s follow https://docs.livekit.io/oss/deployment/kubernetes/#cert-manager (cert manager) and https://github.com/livekit/livekit-helm/blob/master/examples/server-do.yaml#L24 (which will issue a SSL via cert-manger)

Is this TLS the same as DTLS? I thought it is for signaling TCP TLS.

WebRTC doesn't use CA signed certificates with DTLS. Here's a good overview on how it works.