So I have set-up UDP port forwarding in Vbox from 4500 to 4500 and 500 to 500, so for example to do this for port 4500:
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VBoxManage modifyvm "guestvm" --natpf1 "vpn-4500,udp,192.168.1.10,4500,10.0.2.15,4500"
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netcat -u 192.168.1.10 4500
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netcat -l -u 4500
What I did get to work was if I forwarded from a port above 1024 to port 500 so if for example I forward port 2500 to 500, then I can do
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netcat -u 192.168.1.10 2500
So can I forward packets sent to port 500 on my laptop to port 500 in guest VM (nothing is listening on port 500 on laptop).