Hi,
So I set up pfSense and configured. Everything works but this issue is still there. I did the port forwardings, I reconfirmed with the ISP if there is any firewall from there side, they told me they have enabled DMZ on their router so no ports are blocked and there are no limitations from their side. In fact we have several IP Phones managed by the ISP via cloud PBX which are connected to the same network. They are working fine. I have captured the packets using pfSense also, All the requests get response only the request sent to the SIP ALG Detector (34.141.156.185) doesn't get response.