This rule needs to be restricted to incoming traffic on the WAN interface
Go into the rule’s configuration, and set in-interface=wan (whatever the name of the interface is which has your router’s public IP address)
Then make sure that the firewall’s filter table isn’t blocking this traffic in the forward chain of rules.
either permit the traffic specifically by udp/port number (use the INSIDE port number, because the forward filter happens AFTER the dstnat has taken place), or else you can allow all NAT pinholes by a simple rule:
chain=forward
action=accept
connection-nat-state=dstnat
Make sure that this rule comes sooner in the chain than any rule which would drop the packets.