diff --git a/server/config.example.yaml b/server/config.example.yaml
index 8a9a0b10..3c97850a 100644
--- a/server/config.example.yaml
+++ b/server/config.example.yaml
@@ -16,6 +16,7 @@ media:
   preview:
     enabled: false
     codec: "av1"
+    transport: "rtsp"
     fps: 10
     width: 640
     roomBitrateKbps: 200
diff --git a/server/mediamtx/mediamtx.yml b/server/mediamtx/mediamtx.yml
index ac3fff8a..8c0e639f 100644
--- a/server/mediamtx/mediamtx.yml
+++ b/server/mediamtx/mediamtx.yml
@@ -8,7 +8,7 @@ metricsAddress: 0.0.0.0:9998
 pprof: no
 pprofAddress: 127.0.0.1:9999
 
-rtsp: no
+rtsp: yes
 rtmp: no
 hls: no
 
diff --git a/server/src/services/media/previewTranscoderService.js b/server/src/services/media/previewTranscoderService.js
index 50674295..df2a59fe 100644
--- a/server/src/services/media/previewTranscoderService.js
+++ b/server/src/services/media/previewTranscoderService.js
@@ -12,6 +12,7 @@ const previewConfig = mediaConfig.preview || {};
 
 const ENABLED = Boolean(previewConfig.enabled);
 const PREVIEW_CODEC = String(previewConfig.codec || 'av1').toLowerCase();
+const PREVIEW_TRANSPORT = String(previewConfig.transport || 'rtsp').toLowerCase();
 const PREVIEW_FPS = Number(previewConfig.fps || 10);
 const PREVIEW_WIDTH = Number(previewConfig.width || 640);
 const ROOM_BITRATE_KBPS = Number(previewConfig.roomBitrateKbps || 200);
@@ -36,6 +37,10 @@ function buildSrtPublishUrl(streamId) {
   return `srt://127.0.0.1:9000?streamid=#!::r=${encoded},m=publish&latency=10&mode=caller&transtype=live&pkt_size=1316`;
 }
 
+function buildRtspPublishUrl(streamId) {
+  return `rtsp://127.0.0.1:8554/${streamId}`;
+}
+
 function sanitizeCodec(codec) {
   return String(codec || '').toLowerCase().replace(/[^a-z0-9]/g, '') || 'av1';
 }
@@ -91,6 +96,17 @@ function buildArgs(source) {
   const gop = Math.max(1, Math.round(GOP_SECONDS * PREVIEW_FPS));
   const maxrate = Math.floor(source.bitrateKbps * 1.1);
   const bufsize = Math.max(1, source.bitrateKbps * 2);
+  const codec = PREVIEW_CODEC === 'av1' ? 'libsvtav1' : 'libx264';
+  const extraCodecArgs =
+    codec === 'libx264'
+      ? ['-tune', 'zerolatency', '-profile:v', 'baseline', '-sc_threshold', '0']
+      : [];
+  const outputUrl =
+    PREVIEW_TRANSPORT === 'rtsp' ? buildRtspPublishUrl(source.outputId) : buildSrtPublishUrl(source.outputId);
+  const outputArgs =
+    PREVIEW_TRANSPORT === 'rtsp'
+      ? ['-f', 'rtsp', '-rtsp_transport', 'tcp']
+      : ['-f', 'mpegts'];
   return [
     '-hide_banner',
     '-loglevel',
@@ -105,9 +121,10 @@ function buildArgs(source) {
     '-vf',
     `fps=${PREVIEW_FPS},scale=${PREVIEW_WIDTH}:-1`,
     '-c:v',
-    PREVIEW_CODEC === 'av1' ? 'libsvtav1' : 'libx264',
+    codec,
     '-preset',
     PRESET,
+    ...extraCodecArgs,
     '-g',
     String(gop),
     '-keyint_min',
@@ -120,9 +137,8 @@ function buildArgs(source) {
     `${bufsize}k`,
     '-pix_fmt',
     'yuv420p',
-    '-f',
-    'mpegts',
-    buildSrtPublishUrl(source.outputId),
+    ...outputArgs,
+    outputUrl,
   ];
 }
 
diff --git a/webui/src/components/DriverVideoPanel.jsx b/webui/src/components/DriverVideoPanel.jsx
index e64e5f71..7e10fb0f 100644
--- a/webui/src/components/DriverVideoPanel.jsx
+++ b/webui/src/components/DriverVideoPanel.jsx
@@ -24,7 +24,6 @@ export default function DriverVideoPanel({layoutFormat = 'desktop'}) {
     return () => clearInterval(timer);
   }, [session?.mode]);
   const roverId = session?.assignment?.roverId;
-  const av1Supported = supportsAv1WebRtc();
   const rosterEntry =
     roverId && session?.roster ? session.roster.find((item) => String(item.id) === String(roverId)) : null;
   const hasAudio = Boolean(rosterEntry?.media?.audioPublishUrl);
@@ -71,6 +70,7 @@ export default function DriverVideoPanel({layoutFormat = 'desktop'}) {
   const sources = useVideoRequests(entries);
   const info = roverId && shouldShowVideo ? sources[roverId] : null;
   const audioInfo = roverId && hasAudio ? sources[`${roverId}-audio`] : null;
+  const av1Supported = supportsAv1WebRtc();
   const previewEntries = roverId
     ? [
         {
diff --git a/webui/src/components/RoomCameraPanel.jsx b/webui/src/components/RoomCameraPanel.jsx
index 528a1a6b..d653656e 100644
--- a/webui/src/components/RoomCameraPanel.jsx
+++ b/webui/src/components/RoomCameraPanel.jsx
@@ -118,7 +118,7 @@ export default function RoomCameraPanel({
                 feed={feed}
                 label={camera.name || camera.id}
                 videoSession={previewSession}
-                preferVideo={av1Supported}
+                preferVideo={Boolean(previewSession?.url)}
               />
             </article>
           );
diff --git a/webui/src/mini/MiniSummaryApp.jsx b/webui/src/mini/MiniSummaryApp.jsx
index 4c31cce7..56575bdd 100644
--- a/webui/src/mini/MiniSummaryApp.jsx
+++ b/webui/src/mini/MiniSummaryApp.jsx
@@ -36,13 +36,13 @@ function MiniSummaryContent() {
     enabled: !inLockdown,
     version: session?.mode,
   });
-  const av1Supported = supportsAv1WebRtc();
   const [index, setIndex] = useState(0);
 
   const snapshotFeeds = useRoverSnapshots(
     roster.map((rover) => rover.id),
     { enabled: !inLockdown, version: session?.mode },
   );
+  const av1Supported = supportsAv1WebRtc();
   const previewEntries = roster.map((rover) => ({
     type: 'rover',
     id: rover.id,
@@ -162,7 +162,12 @@ function MiniSummaryContent() {
           </FitViewportFrame>
         ) : activeCamera ? (
           <FitViewportFrame>
-            <RoomCameraFrame camera={activeCamera} feed={activeFeed} videoSession={activeRoomPreview} preferVideo={av1Supported} />
+            <RoomCameraFrame
+              camera={activeCamera}
+              feed={activeFeed}
+              videoSession={activeRoomPreview}
+              preferVideo={Boolean(activeRoomPreview?.url)}
+            />
           </FitViewportFrame>
         ) : (
           <div className="flex h-full w-full items-center justify-center text-sm text-slate-500">
diff --git a/webui/src/spectate/SpectatorApp.jsx b/webui/src/spectate/SpectatorApp.jsx
index b3ab3b7d..1885243e 100644
--- a/webui/src/spectate/SpectatorApp.jsx
+++ b/webui/src/spectate/SpectatorApp.jsx
@@ -103,11 +103,11 @@ function SpectatorContent() {
   useSpectatorMode();
   const frames = useTelemetryFrames();
   const roster = session?.roster ?? [];
-  const av1Supported = supportsAv1WebRtc();
   const snapshotFeeds = useRoverSnapshots(
     roster.map((rover) => rover.id),
     { enabled: !inLockdown, version: session?.mode },
   );
+  const av1Supported = supportsAv1WebRtc();
   const previewEntries = roster.map((rover) => ({
     type: 'rover',
     id: rover.id,