UDP, TCP, FTP, and HTTP are all protocols, it is just that the first two are transport level protocols and the second two are application level protocols.
The difference between a router and a proxy is that a router will usually not modify a packet much more than to adjust addressing information, whereas a proxy is generally the endpoint of two different sessions and transfers data back and forth between them.
You can think of these concepts like inter-office mail in a company. If you send the CEO a letter, you would likely put the company’s public address on the envelope. When it arrives at the company, the mail staff (the router) will see the CEO’s name on the envelope and deliver it to the CEO’s internal mailbox for him/her to open. That’s similar to how a router functions.
Using the same analogy, if, instead, the CEO’s assistant opens the envelope, reads the message, the asks the CEO how to respond, types up a reply, and sends a new letter back, the assistant would be acting as a proxy, since the CEO never saw the original message/packet.
UDP poses a challenge for routers because it is “connection-less”, so it’s like sending a letter to the company, but instead of using the CEO’s name, you send it to “anyone who speaks Spanish”. Maybe there are several people at the company that speak Spanish, so the mail staff have no idea how to deliver the message.
A UDP proxy would be like a translator that says, “send all Spanish messages to me and I will read them and figure out who should get it”
It may be possible to set up a static port forwarding in your router to deliver any packets destined for the IAX port to a specific host on the internal network.
Otherwise, depending on what software you can run on that system at the network edge, you may be able to just run a simple proxy with something like netcat