hickory-dns
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mDNS or DNS-SD
Is it now supported to implement mDNS/DNS-SD response services?
There's a bit of debug work to make this fully functional. I haven't had time to do that myself, but would happily try and help understand where there are gaps.
btw, I was looking through some FIXMEs in the code recently, there are quite a few related to mDNS which should give a good idea of where the issues are with it.