I've been able to adjust my firewall to allow UC AI to connect to my RM32 across my home WiFi network. If you need to setup policies on your firewall to allow connections here's the ports I found need to be opened.
TCP Ports 53000, 50193
UDP Ports 53000, 47809
TCP only appears to be required to connect UC to the RM32 across the network. It looks like the UDP packets are used to advertise the RM32's availability across the network. I see the RM32 sending out pretty regular UDP packets out to an IP address of 255.255.255.255 which I think means it's sending to everyone on the network. It uses source port 53000 and destination port 47809 for these. I haven't gotten them to go across the network yet, but it doesn't appear to be stopping UC from seeing it. Perhaps my firewall is allowing the packets on my WiFi network but is stopping them from crossing the firewall from the WiFi network to the outside world through the WAN which would be a good thing!