V2 relay and p2p commands

So I am trying to perform the example given here kubo/docs/experimental-features.md at master 路 ipfs/kubo 路 GitHub (ipfs p2p commands) with netcat in a private swarm having 3 bootstrap nodes and 2 nodes behind NAT. The following is my bootstrap node config:

{
  "API": {
    "HTTPHeaders": {}
  },
  "Addresses": {
    "API": "/ip4/127.0.0.1/tcp/5001",
    "Announce": [],
    "AppendAnnounce": [
      "/ip4/54.163.37.246/tcp/4001"
    ],
    "Gateway": "/ip4/127.0.0.1/tcp/8080",
    "NoAnnounce": [],
    "Swarm": [
      "/ip4/0.0.0.0/tcp/4001",
      "/ip6/::/tcp/4001",
      "/ip4/0.0.0.0/udp/4001/quic-v1",
      "/ip4/0.0.0.0/udp/4001/quic-v1/webtransport",
      "/ip6/::/udp/4001/quic-v1",
      "/ip6/::/udp/4001/quic-v1/webtransport"
    ]
  },
  "AutoNAT": {},
  "Bootstrap": [
    "/ip4/<publicip1>/tcp/4001/p2p/12D3KooWJeCNUxFXmD8pqf27HC9h9rbRxcHfAqc61GCUuTvCiUPE",
    "/ip4/<publicip2>/tcp/4001/p2p/12D3KooWCc2QDzx75SGCTuuYnWYFunQTBS8Cd3JTHRvsTWJKK74R",
    "/ip4/<publicip3>/tcp/4001/p2p/12D3KooWR8FQ3pAtnXwJgKKJ2tkwrYbgpzZZUpo7aQcLyVPSqoxL",
    "/dns/<publicip4>/tcp/19295/p2p/12D3KooWQUJu9N1G7vqbDkzPuKEgjo8NNWkPAoTr4hd2sLVyqMfQ"
  ],
  "DNS": {
    "Resolvers": {}
  },
  "Datastore": {
    "BloomFilterSize": 0,
    "GCPeriod": "1h",
    "HashOnRead": false,
    "Spec": {
      "mounts": [
        {
          "child": {
            "path": "blocks",
            "shardFunc": "/repo/flatfs/shard/v1/next-to-last/2",
            "sync": true,
            "type": "flatfs"
          },
          "mountpoint": "/blocks",
          "prefix": "flatfs.datastore",
          "type": "measure"
        },
        {
          "child": {
            "compression": "none",
            "path": "datastore",
            "type": "levelds"
          },
          "mountpoint": "/",
          "prefix": "leveldb.datastore",
          "type": "measure"
        }
      ],
      "type": "mount"
    },
    "StorageGCWatermark": 90,
    "StorageMax": "10GB"
  },
  "Discovery": {
    "MDNS": {
      "Enabled": true
    }
  },
  "Experimental": {
    "FilestoreEnabled": false,
    "Libp2pStreamMounting": true,
    "OptimisticProvide": false,
    "OptimisticProvideJobsPoolSize": 0,
    "P2pHttpProxy": false,
    "StrategicProviding": false,
    "UrlstoreEnabled": false
  },
  "Gateway": {
    "APICommands": [],
    "DeserializedResponses": null,
    "DisableHTMLErrors": null,
    "ExposeRoutingAPI": null,
    "HTTPHeaders": {},
    "NoDNSLink": false,
    "NoFetch": false,
    "PathPrefixes": [],
    "PublicGateways": null,
    "RootRedirect": ""
  },
  "Identity": {
    "PeerID": "12D3KooWR8FQ3pAtnXwJgKKJ2tkwrYbgpzZZUpo7aQcLyVPSqoxL"
  },
  "Internal": {},
  "Ipns": {
    "RecordLifetime": "",
    "RepublishPeriod": "",
    "ResolveCacheSize": 128
  },
  "Migration": {
    "DownloadSources": [],
    "Keep": ""
  },
  "Mounts": {
    "FuseAllowOther": false,
    "IPFS": "/ipfs",
    "IPNS": "/ipns"
  },
  "Peering": {
    "Peers": null
  },
  "Pinning": {
    "RemoteServices": {}
  },
  "Plugins": {
    "Plugins": null
  },
  "Provider": {
    "Strategy": ""
  },
  "Pubsub": {
    "DisableSigning": false,
    "Router": ""
  },
  "Reprovider": {},
  "Routing": {
    "AcceleratedDHTClient": false,
    "Methods": null,
    "Routers": null,
    "Type": "dhtserver"
  },
  "Swarm": {
    "AddrFilters": null,
    "ConnMgr": {},
    "DisableBandwidthMetrics": false,
    "DisableNatPortMap": false,
    "EnableHolePunching": true,
    "RelayClient": {},
    "RelayService": {
      "Enable": true
    },
    "ResourceMgr": {},
    "Transports": {
      "Multiplexers": {},
      "Network": {},
      "Security": {}
    }
  }
}

and the following is my regular node (behind a NAT) config:

{
  "API": {
    "HTTPHeaders": {}
  },
  "Addresses": {
    "API": "/ip4/127.0.0.1/tcp/5001",
    "Announce": [],
    "AppendAnnounce": [],
    "Gateway": "/ip4/127.0.0.1/tcp/8080",
    "NoAnnounce": [],
    "Swarm": [
      "/ip4/0.0.0.0/tcp/4001",
      "/ip6/::/tcp/4001",
      "/ip4/0.0.0.0/udp/4001/quic-v1",
      "/ip4/0.0.0.0/udp/4001/quic-v1/webtransport",
      "/ip6/::/udp/4001/quic-v1",
      "/ip6/::/udp/4001/quic-v1/webtransport"
    ]
  },
  "AutoNAT": {},
  "Bootstrap": [
    "/ip4/<publicip1>/tcp/4001/p2p/12D3KooWDNYyXGWk7mxG6w1fUmLKVgd7jcW428LgbfWnsfmcANLk",
    "/ip4/3.89.36.0/tcp/4001/p2p/12D3KooWNPwwcXzf6bffg5MdZvn67MkahLzSDdcCLZASQ1AvHUgx",
    "/ip4/<publicip1>/tcp/4001/p2p/12D3KooWJeCNUxFXmD8pqf27HC9h9rbRxcHfAqc61GCUuTvCiUPE",
    "/ip4/<publicip2>/tcp/4001/p2p/12D3KooWR8FQ3pAtnXwJgKKJ2tkwrYbgpzZZUpo7aQcLyVPSqoxL",
    "/ip4/<publicip3>/tcp/4001/p2p/12D3KooWCc2QDzx75SGCTuuYnWYFunQTBS8Cd3JTHRvsTWJKK74R",
    "/dns/<publicip4>/tcp/19295/p2p/12D3KooWQUJu9N1G7vqbDkzPuKEgjo8NNWkPAoTr4hd2sLVyqMfQ"
  ],
  "DNS": {
    "Resolvers": {}
  },
  "Datastore": {
    "BloomFilterSize": 0,
    "GCPeriod": "1h",
    "HashOnRead": false,
    "Spec": {
      "mounts": [
        {
          "child": {
            "path": "blocks",
            "shardFunc": "/repo/flatfs/shard/v1/next-to-last/2",
            "sync": true,
            "type": "flatfs"
          },
          "mountpoint": "/blocks",
          "prefix": "flatfs.datastore",
          "type": "measure"
        },
        {
          "child": {
            "compression": "none",
            "path": "datastore",
            "type": "levelds"
          },
          "mountpoint": "/",
          "prefix": "leveldb.datastore",
          "type": "measure"
        }
      ],
      "type": "mount"
    },
    "StorageGCWatermark": 90,
    "StorageMax": "10GB"
  },
  "Discovery": {
    "MDNS": {
      "Enabled": true
    }
  },
  "Experimental": {
    "FilestoreEnabled": false,
    "Libp2pStreamMounting": true,
    "OptimisticProvide": false,
    "OptimisticProvideJobsPoolSize": 0,
    "P2pHttpProxy": false,
    "StrategicProviding": false,
    "UrlstoreEnabled": false
  },
  "Gateway": {
    "APICommands": [],
    "DeserializedResponses": null,
    "DisableHTMLErrors": null,
    "ExposeRoutingAPI": null,
    "HTTPHeaders": {},
    "NoDNSLink": false,
    "NoFetch": false,
    "PathPrefixes": [],
    "PublicGateways": null,
    "RootRedirect": ""
  },
  "Identity": {
    "PeerID": "12D3KooWFXoGG4a3hcXXaeDc3Qwsg1rbAZoSXjGCkhHaMHE49kht"
  },
  "Internal": {},
  "Ipns": {
    "RecordLifetime": "",
    "RepublishPeriod": "",
    "ResolveCacheSize": 128
  },
  "Migration": {
    "DownloadSources": [],
    "Keep": ""
  },
  "Mounts": {
    "FuseAllowOther": false,
    "IPFS": "/ipfs",
    "IPNS": "/ipns"
  },
  "Peering": {
    "Peers": null
  },
  "Pinning": {
    "RemoteServices": {}
  },
  "Plugins": {
    "Plugins": null
  },
  "Provider": {
    "Strategy": ""
  },
  "Pubsub": {
    "DisableSigning": false,
    "Router": ""
  },
  "Reprovider": {},
  "Routing": {
    "AcceleratedDHTClient": false,
    "Methods": null,
    "Routers": null,
    "Type": "dht"
  },
  "Swarm": {
    "AddrFilters": null,
    "ConnMgr": {},
    "DisableBandwidthMetrics": false,
    "DisableNatPortMap": false,
    "EnableHolePunching": true,
    "RelayClient": {
      "Enable": true
    },
    "RelayService": {},
    "ResourceMgr": {},
    "Transports": {
      "Multiplexers": {},
      "Network": {},
      "Security": {}
    }
  }
}

I am able to discover the nodes using p2p-circuit but I am unable to connect to them using netcat as mentioned in the example. I am however able to ipfs ping them. Further, when the 2 nodes are not behind a NAT and in the same LAN it works flawlessly. Is this a limitation of v2 relay鈥檚 holepunching? If yes, should I revert back to using v1 relay using the go-libp2p-daemon? If yes, how do I enable the legacy settings in kubo for v1 relays which have been deprecated? Please do let me know.