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Although it uses Tor and is probably outdated, here is a PoC I wrote of bootstrapping a DHT network on the server side and using the client side to discover peers: https://github.com/cretz/tor-dht-poc

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I saw you use IPFS in there, are you sure it did not use one of their signalling servers to find the peers?

Used one of my own in Go, in that same repo using IPFS libs. Also, more "bootstrap" server than "signalling" server as its websockets not webrtc.

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