diff --git a/components/camera/client.go b/components/camera/client.go
index 682e82dd732..e4c406f764a 100644
--- a/components/camera/client.go
+++ b/components/camera/client.go
@@ -661,9 +661,14 @@ func (c *client) Unsubscribe(ctx context.Context, id rtppassthrough.Subscription
 }
 
 func (c *client) trackName() string {
-	// if c.conn is a *grpc.SharedConn then the client
-	// is talking to a module and we need to send the fully qualified name
-	if _, ok := c.conn.(*grpc.SharedConn); ok {
+	// if c.conn is a *grpc.SharedConn then, this is being used for communication between a
+	// viam-server and module. The viam-server will have one SharedConn and the module will have a
+	// different one. When asking a module to start a video stream, we create a track name with the
+	// full resource name (i.e: rdk:components:camera/foo).
+	//
+	// Modules talking back to the viam-server for a camera stream should use the "short
+	// name"/`SDPTrackName` (i.e: `foo`).
+	if sc, ok := c.conn.(*grpc.SharedConn); ok && sc.IsConnectedToModule() {
 		return c.Name().String()
 	}
 
@@ -673,6 +678,7 @@ func (c *client) trackName() string {
 		// as the remote doesn't know it's own name from the perspective of the main part
 		return c.Name().PopRemote().SDPTrackName()
 	}
+
 	// in this case we are talking to a main part & the remote name (if it exists) needs to be preserved
 	return c.Name().SDPTrackName()
 }
diff --git a/grpc/shared_conn.go b/grpc/shared_conn.go
index 79ba0d0d85b..a4c04c17076 100644
--- a/grpc/shared_conn.go
+++ b/grpc/shared_conn.go
@@ -25,6 +25,10 @@ import (
 // a resource may register with a SharedConn which supports WebRTC.
 type OnTrackCB func(tr *webrtc.TrackRemote, r *webrtc.RTPReceiver)
 
+//nolint
+// The following describes the SharedConn lifetime for viam-server's modmanager communicating with
+// modules it has spawned.
+//
 // SharedConn wraps both a GRPC connection & (optionally) a peer connection & controls access to both.
 // For modules, the grpc connection is over a Unix socket. The WebRTC `PeerConnection` is made
 // separately. The `SharedConn` continues to implement the `rpc.ClientConn` interface by pairing up
@@ -71,10 +75,9 @@ type SharedConn struct {
 	// `peerConnMu` synchronizes changes to the underlying `peerConn`. Such that calls consecutive
 	// calls to `GrpcConn` and `PeerConn` will return connections from the same (or newer, but not
 	// prior) "generations".
-	peerConnMu     sync.Mutex
-	peerConn       *webrtc.PeerConnection
-	peerConnReady  <-chan struct{}
-	peerConnClosed <-chan struct{}
+	peerConnMu    sync.Mutex
+	peerConn      *webrtc.PeerConnection
+	peerConnReady <-chan struct{}
 	// peerConnFailed gets closed when a PeerConnection fails to connect. The peerConn pointer is
 	// set to nil before this channel is closed.
 	peerConnFailed chan struct{}
@@ -82,9 +85,60 @@ type SharedConn struct {
 	onTrackCBByTrackNameMu sync.Mutex
 	onTrackCBByTrackName   map[string]OnTrackCB
 
+	// isConnectedToViamServer identifies whether this SharedConn is running inside a viam-server
+	// talking to a module, or a module talking to a viam-server. We use this to determine whether
+	// to use long names or short names for PeerConnection video (or audio) track names.
+	isConnectedToViamServer bool
+
 	logger logging.Logger
 }
 
+// NewSharedConnForModule acts as a constructor for `SharedConn` for modules that are communicating
+// back to their parent viam-server.
+func NewSharedConnForModule(grpcConn rpc.ClientConn, peerConn *webrtc.PeerConnection, logger logging.Logger) *SharedConn {
+	// We must be passed a ready connection.
+	pcReady := make(chan struct{})
+	close(pcReady)
+
+	ret := &SharedConn{
+		peerConn:      peerConn,
+		peerConnReady: pcReady,
+		// We were passed in a ready connection. Only create this for when `Close` is called.
+		peerConnFailed:          make(chan struct{}),
+		onTrackCBByTrackName:    make(map[string]OnTrackCB),
+		isConnectedToViamServer: true,
+		logger:                  logger,
+	}
+	ret.grpcConn.ReplaceConn(grpcConn)
+
+	ret.peerConn.OnTrack(func(trackRemote *webrtc.TrackRemote, rtpReceiver *webrtc.RTPReceiver) {
+		ret.onTrackCBByTrackNameMu.Lock()
+		onTrackCB, ok := ret.onTrackCBByTrackName[trackRemote.StreamID()]
+		ret.onTrackCBByTrackNameMu.Unlock()
+		if !ok {
+			msg := "Callback not found for StreamID: %s, keys(resOnTrackCBs): %#v"
+			ret.logger.Errorf(msg, trackRemote.StreamID(), maps.Keys(ret.onTrackCBByTrackName))
+			return
+		}
+		onTrackCB(trackRemote, rtpReceiver)
+	})
+
+	return ret
+}
+
+// IsConnectedToModule returns whether this shared conn is being used to communicate with a module.
+func (sc *SharedConn) IsConnectedToModule() bool {
+	return sc.isConnectedToViamServer
+}
+
+// IsConnectedToViamServer returns whether this shared conn is being used to communicate with a
+// viam-server. Note this implies the client is running within a module process. Typical
+// clients/remote connections are a pure webrtc connection. As opposed to a frankenstein tcp/unix
+// socket + webrtc connection.
+func (sc *SharedConn) IsConnectedToViamServer() bool {
+	return !sc.isConnectedToViamServer
+}
+
 // Invoke forwards to the underlying GRPC Connection.
 func (sc *SharedConn) Invoke(
 	ctx context.Context,
@@ -143,8 +197,8 @@ func (sc *SharedConn) PeerConn() *webrtc.PeerConnection {
 	return ret
 }
 
-// ResetConn acts as a constructor for `SharedConn`. ResetConn replaces the underlying
-// connection objects in addition to some other initialization.
+// ResetConn acts as a constructor for `SharedConn` inside the viam-server (not modules). ResetConn
+// replaces the underlying connection objects in addition to some other initialization.
 //
 // The first call to `ResetConn` is guaranteed to happen before any access to connection objects
 // happens. But subequent calls can be entirely asynchronous to components/services accessing
@@ -193,7 +247,7 @@ func (sc *SharedConn) ResetConn(conn rpc.ClientConn, moduleLogger logging.Logger
 	}
 
 	sc.peerConn = peerConn
-	sc.peerConnReady, sc.peerConnClosed, err = rpc.ConfigureForRenegotiation(peerConn, rpc.PeerRoleClient, sc.logger)
+	sc.peerConnReady, _, err = rpc.ConfigureForRenegotiation(peerConn, rpc.PeerRoleServer, sc.logger)
 	if err != nil {
 		sc.logger.Warnw("Unable to create optional renegotiation channel for module. Ignoring.", "err", err)
 		return
diff --git a/module/module.go b/module/module.go
index cd02bdee8e1..4e7e06f04a8 100644
--- a/module/module.go
+++ b/module/module.go
@@ -395,6 +395,9 @@ func (m *Module) connectParent(ctx context.Context) error {
 	}
 
 	m.parent = rc
+	if m.pc != nil {
+		m.parent.SetPeerConnection(m.pc)
+	}
 	return nil
 }
 
diff --git a/robot/client/client.go b/robot/client/client.go
index 55482769893..a35b9ee4263 100644
--- a/robot/client/client.go
+++ b/robot/client/client.go
@@ -16,6 +16,7 @@ import (
 	grpc_retry "github.com/grpc-ecosystem/go-grpc-middleware/retry"
 	"github.com/jhump/protoreflect/desc"
 	"github.com/jhump/protoreflect/grpcreflect"
+	"github.com/viamrobotics/webrtc/v3"
 	"go.uber.org/multierr"
 	"go.uber.org/zap"
 	"go.uber.org/zap/zapcore"
@@ -112,6 +113,12 @@ type RobotClient struct {
 	// webrtc. We don't want a network disconnect to result in reconnecting over tcp such that
 	// performance would be impacted.
 	serverIsWebrtcEnabled bool
+
+	// If this client is running in a module process and this client represents the gRPC connection
+	// back to a viam-server. If this is true, `pc` and `sharedConn` are expected to be set.
+	isModuleConnection bool
+	pc                 *webrtc.PeerConnection
+	sharedConn         *grpc.SharedConn
 }
 
 // RemoteTypeName is the type name used for a remote. This is for internal use.
@@ -268,6 +275,7 @@ func New(ctx context.Context, address string, clientLogger logging.ZapCompatible
 		sessionsDisabled:    rOpts.disableSessions,
 		heartbeatCtx:        heartbeatCtx,
 		heartbeatCtxCancel:  heartbeatCtxCancel,
+		isModuleConnection:  rOpts.modName != "",
 	}
 
 	// interceptors are applied in order from first to last
@@ -680,10 +688,10 @@ func (rc *RobotClient) ResourceByName(name resource.Name) (resource.Resource, er
 func (rc *RobotClient) createClient(name resource.Name) (resource.Resource, error) {
 	apiInfo, ok := resource.LookupGenericAPIRegistration(name.API)
 	if !ok || apiInfo.RPCClient == nil {
-		return grpc.NewForeignResource(name, &rc.conn), nil
+		return grpc.NewForeignResource(name, rc.getClientConn()), nil
 	}
 	logger := rc.Logger().Sublogger(resource.RemoveRemoteName(name).ShortName())
-	return apiInfo.RPCClient(rc.backgroundCtx, &rc.conn, rc.remoteName, name, logger)
+	return apiInfo.RPCClient(rc.backgroundCtx, rc.getClientConn(), rc.remoteName, name, logger)
 }
 
 func (rc *RobotClient) resources(ctx context.Context) ([]resource.Name, []resource.RPCAPI, error) {
@@ -1299,6 +1307,27 @@ func (rc *RobotClient) Tunnel(ctx context.Context, conn io.ReadWriteCloser, dest
 	return errors.Join(err, readerSenderErr, recvWriterErr)
 }
 
+// SetPeerConnection is only to be called internally from modules.
+func (rc *RobotClient) SetPeerConnection(pc *webrtc.PeerConnection) {
+	rc.mu.Lock()
+	rc.pc = pc
+	rc.mu.Unlock()
+}
+
+func (rc *RobotClient) getClientConn() rpc.ClientConn {
+	// Must be called with `rc.mu` in ReadLock+ mode.
+	if rc.sharedConn != nil {
+		return rc.sharedConn
+	}
+
+	if rc.pc == nil {
+		return &rc.conn
+	}
+
+	rc.sharedConn = grpc.NewSharedConnForModule(&rc.conn, rc.pc, rc.logger.Sublogger("shared_conn"))
+	return rc.sharedConn
+}
+
 func unaryClientInterceptor() googlegrpc.UnaryClientInterceptor {
 	return func(
 		ctx context.Context,