@Aaron_Turner first and foermost thank you so much for the work and sharing.
I am trying to set this up for my 2.6 pfsense machine. I am not very familiar with BSD, so I am probably doing something wrong, as I cannot get it to work. I have followed these instructions:
First question I would have would be for step
" Copy the correct udp-proxy-2020 binary for your system to /usr/local/bin/udp-proxy-2020"
…would this be a file named ‘udp-proxy-2020’ in the dir /usr/local/bin/ ? (where the filename would be the renamed bin file which I downloaded (amd64 version)) OR a file in a dir called ‘/usr/local/bin/udp-proxy-2020/’ ?
I believe I have tried both (and performed all other steps).
However when I try ‘service udp-proxy-2020 start’ as root, it returns:
“env: /usr/local/etc/rc.d/udp-proxy-2020: No such file or directory”
…but when i do a ls in the folder, the file is there?
…like I said, this is probably due to my limited understanding of the OS, so hopefully someone can help me out by telling me what to check :).
Also, have you considered making this an official package for pfsense? Like others I am way more trusted with their awesome gui… 
Thanks,
Martin