diff --git a/API.md b/API.md
index b7ceef2..2ae6f55 100644
--- a/API.md
+++ b/API.md
@@ -39,7 +39,6 @@ init(
   url: String,
   credentials: Credentials? = nil,
   transport: Transport = .tcp,
-  sessionIdPolicy: SessionIdPolicy = .defaultPolicy,
   userAgent: String = "IPCamKit")
 
 func start() async throws -> SessionDescription
@@ -63,16 +62,6 @@ enum Transport: Sendable {
 }
 ```
 
-### SessionIdPolicy
-
-```swift
-enum SessionIdPolicy: Sendable {
-  case defaultPolicy   // Currently requireMatch
-  case requireMatch    // Same session ID for all SETUP requests
-  case useFirst        // Use first SETUP session ID, ignore changes
-}
-```
-
 ## Session Description
 
 Returned by `start()` with stream metadata parsed from SDP.
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 60abdef..6e6fd14 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,6 +1,10 @@
 # Changelog
 
-## 0.1.2
+## 0.2.0
+
+### Breaking changes
+
+- Remove `SessionIdPolicy` enum and the `sessionIdPolicy:` parameter from `RTSPClientSession.init`. Audio SETUP responses that return a different session ID are now always accepted (latest wins) instead of being a configurable choice.
 
 ### Improvements
 
diff --git a/Sources/IPCamKit/Client/RTSPSession.swift b/Sources/IPCamKit/Client/RTSPSession.swift
index 5231e44..2e659e7 100644
--- a/Sources/IPCamKit/Client/RTSPSession.swift
+++ b/Sources/IPCamKit/Client/RTSPSession.swift
@@ -61,20 +61,10 @@ public struct SessionDescription: Sendable {
 /// }
 /// await session.stop()
 /// ```
-public enum SessionIdPolicy: Sendable {
-  /// Default policy: currently requireMatch.
-  case defaultPolicy
-  /// Requires the server to return the same session ID for all SETUP requests.
-  case requireMatch
-  /// Uses the session ID returned from the first SETUP request and ignores subsequent changes.
-  case useFirst
-}
-
 public final class RTSPClientSession: Sendable {
   private let url: String
   private let credentials: Credentials?
   private let transport: Transport
-  private let sessionIdPolicy: SessionIdPolicy
   private let userAgent: String
   private let state: SessionState
 
@@ -82,13 +72,11 @@ public final class RTSPClientSession: Sendable {
     url: String,
     credentials: Credentials? = nil,
     transport: Transport = .tcp,
-    sessionIdPolicy: SessionIdPolicy = .defaultPolicy,
     userAgent: String = "IPCamKit"
   ) {
     self.url = url
     self.credentials = credentials
     self.transport = transport
-    self.sessionIdPolicy = sessionIdPolicy
     self.userAgent = userAgent
     self.state = SessionState()
   }
@@ -101,7 +89,6 @@ public final class RTSPClientSession: Sendable {
       url: url,
       credentials: credentials,
       transport: transport,
-      sessionIdPolicy: sessionIdPolicy,
       userAgent: userAgent
     )
   }
@@ -247,7 +234,6 @@ actor SessionState {
     url: String,
     credentials: Credentials?,
     transport: Transport,
-    sessionIdPolicy: SessionIdPolicy,
     userAgent: String
   ) async throws -> SessionDescription {
     // Parse URL
@@ -343,14 +329,7 @@ actor SessionState {
         method: .setup, url: audioSetupURL,
         extraHeaders: audioSetupHeaders)
       let audioSetup = try parseSetup(response: audioSetupResp)
-      if let sid = sessionId, sid != audioSetup.session.id {
-        if sessionIdPolicy == .useFirst {
-          // Ignore the new session ID
-        } else {
-          throw RTSPError.sessionSetupFailed(
-            statusCode: 0, reason: "Session ID changed from \(sid) to \(audioSetup.session.id)")
-        }
-      }
+      sessionId = audioSetup.session.id
       audioSetupSSRC = audioSetup.ssrc
       presMut.streams[audioIdx].state = .setup(
         StreamStateInit(ssrc: audioSetup.ssrc, initialSeq: nil, initialRtptime: nil, ctx: .dummy))