To update this topic, I have not yet found a way to bridge the IP camera to the WiFi sharing. My next step will be to research how the existing video sharing works. Depending on the method chosen, we may be able to re-purpose or replicate it.
Edit: The post below explains one possible way to do it. I can’t set static routes on the camera but can on the GCS computer. That might be enough for the RTSP to route correctly. I’ll give it a try tomorrow.