Going by Wikipedia's definition.
"Once an internal address (iAddr:iPort) is mapped to an external address (eAddr:ePort), any packets from iAddr:iPort will be sent through eAddr:ePort.
Any external host can send packets to iAddr:iPort by sending packets to eAddr:ePort."
Full Cone NAT allows any external host to use the existing state table entry to access the internal host, kind of like a temporary port forward.
I sort of get your problem but why don't you just add a forwarding rule?
Never had any issues with my SIP phone behind m0n0wall (while using STUN).