Unable to connect from a network that blocks ICMP packages

I have physical network A, B, C, all of which have public IPv6 addresses. Network B blocks all ICMP packages.

In network A and C, my device can connect to zerotier without problem.

In network B, my device cannot connect to zerotier:
if the device just switched from A to B, the desktop UI report status OK, but ZeroTier Central says it is not online;
if I restart zerotier service in network B, the desktop UI report status REQUEST_CONFIGURATION, forever. This is seen on version 1.10.6 and 1.12.2.

When I downgrade to 1.4.6, the device becomes able to connect to zerotier.

I guess the problem is about ICMP because I saw the firewall rule and I know network B blocks ICMP (e.g. you can't ping anything).
I also guess that zerotier has changed its way to connect to a way that uses ICMP from a specific version, before which it had a way different from ICMP.

I want to know which the specific version is, and I hope that you can add a fallback way to connect.

No files or tests are named. Start by reproducing the connection failure on a network that blocks ICMP and compare ZeroTier 1.4.6 with 1.10.6 and 1.12.2 to identify the behavioral change. Done means the version difference is understood and a connection path works under the reported ICMP restriction.