diff --git a/ingress/icmp_darwin.go b/ingress/icmp_darwin.go
new file mode 100644
index 00000000..20509b2f
--- /dev/null
+++ b/ingress/icmp_darwin.go
@@ -0,0 +1,231 @@
+//go:build darwin
+
+package ingress
+
+import (
+	"context"
+	"fmt"
+	"math"
+	"net"
+	"net/netip"
+	"strconv"
+	"sync"
+
+	"github.com/google/gopacket/layers"
+	"github.com/pkg/errors"
+	"github.com/rs/zerolog"
+	"golang.org/x/net/icmp"
+
+	"github.com/cloudflare/cloudflared/packet"
+)
+
+// TODO: TUN-6654 Extend support to IPv6
+// On Darwin, a non-privileged ICMP socket can read messages from all echo IDs, so we use it for all sources.
+type icmpProxy struct {
+	// TODO: TUN-6588 clean up flows
+	srcFlowTracker *packet.FlowTracker
+	echoIDTracker  *echoIDTracker
+	conn           *icmp.PacketConn
+	logger         *zerolog.Logger
+	encoder        *packet.Encoder
+}
+
+// echoIDTracker tracks which ID has been assigned. It first loops through assignment from lastAssignment to then end,
+// then from the beginning to lastAssignment.
+// ICMP echo are short lived. By the time an ID is revisited, it should have been released.
+type echoIDTracker struct {
+	lock sync.RWMutex
+	// maps the source IP to an echo ID obtained from assignment
+	srcIPMapping map[netip.Addr]uint16
+	// assignment tracks if an ID is assigned using index as the ID
+	// The size of the array is math.MaxUint16 because echo ID is 2 bytes
+	assignment [math.MaxUint16]bool
+	// nextAssignment is the next number to check for assigment
+	nextAssignment uint16
+}
+
+func newEchoIDTracker() *echoIDTracker {
+	return &echoIDTracker{
+		srcIPMapping: make(map[netip.Addr]uint16),
+	}
+}
+
+func (eit *echoIDTracker) get(srcIP netip.Addr) (uint16, bool) {
+	eit.lock.RLock()
+	defer eit.lock.RUnlock()
+	id, ok := eit.srcIPMapping[srcIP]
+	return id, ok
+}
+
+func (eit *echoIDTracker) assign(srcIP netip.Addr) (uint16, bool) {
+	eit.lock.Lock()
+	defer eit.lock.Unlock()
+
+	if eit.nextAssignment == math.MaxUint16 {
+		eit.nextAssignment = 0
+	}
+
+	for i, assigned := range eit.assignment[eit.nextAssignment:] {
+		if !assigned {
+			echoID := uint16(i) + eit.nextAssignment
+			eit.set(srcIP, echoID)
+			return echoID, true
+		}
+	}
+	for i, assigned := range eit.assignment[0:eit.nextAssignment] {
+		if !assigned {
+			echoID := uint16(i)
+			eit.set(srcIP, echoID)
+			return echoID, true
+		}
+	}
+	return 0, false
+}
+
+// Caller should hold the lock
+func (eit *echoIDTracker) set(srcIP netip.Addr, echoID uint16) {
+	eit.assignment[echoID] = true
+	eit.srcIPMapping[srcIP] = echoID
+	eit.nextAssignment = echoID + 1
+}
+
+func (eit *echoIDTracker) release(srcIP netip.Addr, id uint16) bool {
+	eit.lock.Lock()
+	defer eit.lock.Unlock()
+
+	currentID, ok := eit.srcIPMapping[srcIP]
+	if ok && id == currentID {
+		delete(eit.srcIPMapping, srcIP)
+		eit.assignment[id] = false
+		return true
+	}
+	return false
+}
+
+type echoFlowID uint16
+
+func (snf echoFlowID) Type() string {
+	return "echoID"
+}
+
+func (snf echoFlowID) String() string {
+	return strconv.FormatUint(uint64(snf), 10)
+}
+
+func newICMPProxy(listenIP net.IP, logger *zerolog.Logger) (ICMPProxy, error) {
+	network := "udp6"
+	if listenIP.To4() != nil {
+		network = "udp4"
+	}
+	// Opens a non-privileged ICMP socket
+	conn, err := icmp.ListenPacket(network, listenIP.String())
+	if err != nil {
+		return nil, err
+	}
+	return &icmpProxy{
+		srcFlowTracker: packet.NewFlowTracker(),
+		echoIDTracker:  newEchoIDTracker(),
+		conn:           conn,
+		logger:         logger,
+		encoder:        packet.NewEncoder(),
+	}, nil
+}
+
+func (ip *icmpProxy) Request(pk *packet.ICMP, responder packet.FlowResponder) error {
+	switch body := pk.Message.Body.(type) {
+	case *icmp.Echo:
+		return ip.sendICMPEchoRequest(pk, body, responder)
+	default:
+		return fmt.Errorf("sending ICMP %s is not implemented", pk.Type)
+	}
+}
+
+func (ip *icmpProxy) ListenResponse(ctx context.Context) error {
+	go func() {
+		<-ctx.Done()
+		ip.conn.Close()
+	}()
+	buf := make([]byte, 1500)
+	for {
+		n, src, err := ip.conn.ReadFrom(buf)
+		if err != nil {
+			return err
+		}
+		// TODO: TUN-6654 Check for IPv6
+		msg, err := icmp.ParseMessage(int(layers.IPProtocolICMPv4), buf[:n])
+		if err != nil {
+			ip.logger.Error().Err(err).Str("src", src.String()).Msg("Failed to parse ICMP message")
+			continue
+		}
+		switch body := msg.Body.(type) {
+		case *icmp.Echo:
+			if err := ip.handleEchoResponse(msg, body); err != nil {
+				ip.logger.Error().Err(err).
+					Str("src", src.String()).
+					Str("flowID", echoFlowID(body.ID).String()).
+					Msg("Failed to handle ICMP response")
+				continue
+			}
+		default:
+			ip.logger.Warn().
+				Str("icmpType", fmt.Sprintf("%s", msg.Type)).
+				Msgf("Responding to this type of ICMP is not implemented")
+			continue
+		}
+	}
+}
+
+func (ip *icmpProxy) sendICMPEchoRequest(pk *packet.ICMP, echo *icmp.Echo, responder packet.FlowResponder) error {
+	echoID, ok := ip.echoIDTracker.get(pk.Src)
+	if !ok {
+		echoID, ok = ip.echoIDTracker.assign(pk.Src)
+		if !ok {
+			return fmt.Errorf("failed to assign unique echo ID")
+		}
+		flowID := echoFlowID(echoID)
+		flow := packet.Flow{
+			Src:       pk.Src,
+			Dst:       pk.Dst,
+			Responder: responder,
+		}
+		if replaced := ip.srcFlowTracker.Register(flowID, &flow, true); replaced {
+			ip.logger.Info().Str("src", flow.Src.String()).Str("dst", flow.Dst.String()).Msg("Replaced flow")
+		}
+	}
+
+	echo.ID = int(echoID)
+	var pseudoHeader []byte = nil
+	serializedMsg, err := pk.Marshal(pseudoHeader)
+	if err != nil {
+		return errors.Wrap(err, "Failed to encode ICMP message")
+	}
+	// The address needs to be of type UDPAddr when conn is created without priviledge
+	_, err = ip.conn.WriteTo(serializedMsg, &net.UDPAddr{
+		IP: pk.Dst.AsSlice(),
+	})
+	return err
+}
+
+func (ip *icmpProxy) handleEchoResponse(msg *icmp.Message, echo *icmp.Echo) error {
+	flowID := echoFlowID(echo.ID)
+	flow, ok := ip.srcFlowTracker.Get(flowID)
+	if !ok {
+		return fmt.Errorf("flow not found")
+	}
+	icmpPacket := packet.ICMP{
+		IP: &packet.IP{
+			Src:      flow.Dst,
+			Dst:      flow.Src,
+			Protocol: layers.IPProtocol(msg.Type.Protocol()),
+		},
+		Message: msg,
+	}
+	serializedPacket, err := ip.encoder.Encode(&icmpPacket)
+	if err != nil {
+		return errors.Wrap(err, "Failed to encode ICMP message")
+	}
+	if err := flow.Responder.SendPacket(serializedPacket); err != nil {
+		return errors.Wrap(err, "Failed to send packet to the edge")
+	}
+	return nil
+}
diff --git a/ingress/icmp_darwin_test.go b/ingress/icmp_darwin_test.go
new file mode 100644
index 00000000..8baccb58
--- /dev/null
+++ b/ingress/icmp_darwin_test.go
@@ -0,0 +1,91 @@
+//go:build darwin
+
+package ingress
+
+import (
+	"math"
+	"net/netip"
+	"testing"
+
+	"github.com/stretchr/testify/require"
+)
+
+func TestSingleEchoIDTracker(t *testing.T) {
+	tracker := newEchoIDTracker()
+	srcIP := netip.MustParseAddr("127.0.0.1")
+	echoID, ok := tracker.get(srcIP)
+	require.False(t, ok)
+	require.Equal(t, uint16(0), echoID)
+
+	// not assigned yet, so nothing to release
+	require.False(t, tracker.release(srcIP, echoID))
+
+	echoID, ok = tracker.assign(srcIP)
+	require.True(t, ok)
+	require.Equal(t, uint16(0), echoID)
+
+	echoID, ok = tracker.get(srcIP)
+	require.True(t, ok)
+	require.Equal(t, uint16(0), echoID)
+
+	// releasing a different ID returns false
+	require.False(t, tracker.release(srcIP, 1999))
+	require.True(t, tracker.release(srcIP, echoID))
+	// releasing the second time returns false
+	require.False(t, tracker.release(srcIP, echoID))
+
+	echoID, ok = tracker.get(srcIP)
+	require.False(t, ok)
+	require.Equal(t, uint16(0), echoID)
+
+	// Move to the next IP
+	echoID, ok = tracker.assign(srcIP)
+	require.True(t, ok)
+	require.Equal(t, uint16(1), echoID)
+}
+
+func TestFullEchoIDTracker(t *testing.T) {
+	tracker := newEchoIDTracker()
+	firstIP := netip.MustParseAddr("172.16.0.1")
+	srcIP := firstIP
+
+	for i := uint16(0); i < math.MaxUint16; i++ {
+		echoID, ok := tracker.assign(srcIP)
+		require.True(t, ok)
+		require.Equal(t, i, echoID)
+
+		echoID, ok = tracker.get(srcIP)
+		require.True(t, ok)
+		require.Equal(t, i, echoID)
+		srcIP = srcIP.Next()
+	}
+
+	// All echo IDs are assigned
+	echoID, ok := tracker.assign(srcIP.Next())
+	require.False(t, ok)
+	require.Equal(t, uint16(0), echoID)
+
+	srcIP = firstIP
+	for i := uint16(0); i < math.MaxUint16; i++ {
+		ok := tracker.release(srcIP, i)
+		require.True(t, ok)
+
+		echoID, ok = tracker.get(srcIP)
+		require.False(t, ok)
+		require.Equal(t, uint16(0), echoID)
+		srcIP = srcIP.Next()
+	}
+
+	// The IDs are assignable again
+	srcIP = firstIP
+	for i := uint16(0); i < math.MaxUint16; i++ {
+		echoID, ok := tracker.assign(srcIP)
+		require.True(t, ok)
+		require.Equal(t, i, echoID)
+
+		echoID, ok = tracker.get(srcIP)
+		require.True(t, ok)
+		require.Equal(t, i, echoID)
+		srcIP = srcIP.Next()
+	}
+}
diff --git a/ingress/icmp_generic.go b/ingress/icmp_generic.go
new file mode 100644
index 00000000..dafa96e7
--- /dev/null
+++ b/ingress/icmp_generic.go
@@ -0,0 +1,15 @@
+//go:build !darwin
+
+package ingress
+
+import (
+	"fmt"
+	"net"
+	"runtime"
+
+	"github.com/rs/zerolog"
+)
+
+func newICMPProxy(listenIP net.IP, logger *zerolog.Logger) (ICMPProxy, error) {
+	return nil, fmt.Errorf("ICMP proxy is not implemented on %s", runtime.GOOS)
+}
diff --git a/ingress/origin_icmp_proxy.go b/ingress/origin_icmp_proxy.go
index 672e833e..aabaa51f 100644
--- a/ingress/origin_icmp_proxy.go
+++ b/ingress/origin_icmp_proxy.go
@@ -2,14 +2,9 @@ package ingress
 
 import (
 	"context"
-	"fmt"
 	"net"
-	"strconv"
 
-	"github.com/google/gopacket/layers"
-	"github.com/pkg/errors"
 	"github.com/rs/zerolog"
-	"golang.org/x/net/icmp"
 
 	"github.com/cloudflare/cloudflared/packet"
 )
@@ -22,118 +17,6 @@ type ICMPProxy interface {
 	ListenResponse(ctx context.Context) error
 }
 
-// TODO: TUN-6654 Extend support to IPv6
-type icmpProxy struct {
-	srcFlowTracker *packet.FlowTracker
-	conn           *icmp.PacketConn
-	logger         *zerolog.Logger
-	encoder        *packet.Encoder
-}
-
-// TODO: TUN-6586: Use echo ID as FlowID
-type seqNumFlowID int
-
-func (snf seqNumFlowID) ID() string {
-	return strconv.FormatInt(int64(snf), 10)
-}
-
-func NewICMPProxy(network string, listenIP net.IP, logger *zerolog.Logger) (*icmpProxy, error) {
-	conn, err := icmp.ListenPacket(network, listenIP.String())
-	if err != nil {
-		return nil, err
-	}
-	return &icmpProxy{
-		srcFlowTracker: packet.NewFlowTracker(),
-		conn:           conn,
-		logger:         logger,
-		encoder:        packet.NewEncoder(),
-	}, nil
-}
-
-func (ip *icmpProxy) Request(pk *packet.ICMP, responder packet.FlowResponder) error {
-	switch body := pk.Message.Body.(type) {
-	case *icmp.Echo:
-		return ip.sendICMPEchoRequest(pk, body, responder)
-	default:
-		return fmt.Errorf("sending ICMP %s is not implemented", pk.Type)
-	}
-}
-
-func (ip *icmpProxy) ListenResponse(ctx context.Context) error {
-	go func() {
-		<-ctx.Done()
-		ip.conn.Close()
-	}()
-	buf := make([]byte, 1500)
-	for {
-		n, src, err := ip.conn.ReadFrom(buf)
-		if err != nil {
-			return err
-		}
-		// TODO: TUN-6654 Check for IPv6
-		msg, err := icmp.ParseMessage(int(layers.IPProtocolICMPv4), buf[:n])
-		if err != nil {
-			ip.logger.Error().Err(err).Str("src", src.String()).Msg("Failed to parse ICMP message")
-			continue
-		}
-		switch body := msg.Body.(type) {
-		case *icmp.Echo:
-			if err := ip.handleEchoResponse(msg, body); err != nil {
-				ip.logger.Error().Err(err).Str("src", src.String()).Msg("Failed to handle ICMP response")
-				continue
-			}
-		default:
-			ip.logger.Warn().
-				Str("icmpType", fmt.Sprintf("%s", msg.Type)).
-				Msgf("Responding to this type of ICMP is not implemented")
-			continue
-		}
-	}
-}
-
-func (ip *icmpProxy) sendICMPEchoRequest(pk *packet.ICMP, echo *icmp.Echo, responder packet.FlowResponder) error {
-	flow := packet.Flow{
-		Src:       pk.Src,
-		Dst:       pk.Dst,
-		Responder: responder,
-	}
-	// TODO: TUN-6586 rewrite ICMP echo request identifier and use it to track flows
-	flowID := seqNumFlowID(echo.Seq)
-	// TODO: TUN-6588 clean up flows
-	if replaced := ip.srcFlowTracker.Register(flowID, &flow, true); replaced {
-		ip.logger.Info().Str("src", flow.Src.String()).Str("dst", flow.Dst.String()).Msg("Replaced flow")
-	}
-	var pseudoHeader []byte = nil
-	serializedMsg, err := pk.Marshal(pseudoHeader)
-	if err != nil {
-		return errors.Wrap(err, "Failed to encode ICMP message")
-	}
-	// The address needs to be of type UDPAddr when conn is created without priviledge
-	_, err = ip.conn.WriteTo(serializedMsg, &net.UDPAddr{
-		IP: pk.Dst.AsSlice(),
-	})
-	return err
-}
-
-func (ip *icmpProxy) handleEchoResponse(msg *icmp.Message, echo *icmp.Echo) error {
-	flow, ok := ip.srcFlowTracker.Get(seqNumFlowID(echo.Seq))
-	if !ok {
-		return fmt.Errorf("flow not found")
-	}
-	icmpPacket := packet.ICMP{
-		IP: &packet.IP{
-			Src:      flow.Dst,
-			Dst:      flow.Src,
-			Protocol: layers.IPProtocol(msg.Type.Protocol()),
-		},
-		Message: msg,
-	}
-	serializedPacket, err := ip.encoder.Encode(&icmpPacket)
-	if err != nil {
-		return errors.Wrap(err, "Failed to encode ICMP message")
-	}
-	if err := flow.Responder.SendPacket(serializedPacket); err != nil {
-		return errors.Wrap(err, "Failed to send packet to the edge")
-	}
-	return nil
+func NewICMPProxy(listenIP net.IP, logger *zerolog.Logger) (ICMPProxy, error) {
+	return newICMPProxy(listenIP, logger)
 }
diff --git a/ingress/origin_icmp_proxy_test.go b/ingress/origin_icmp_proxy_test.go
index 9ca8ebee..eb03a008 100644
--- a/ingress/origin_icmp_proxy_test.go
+++ b/ingress/origin_icmp_proxy_test.go
@@ -24,12 +24,13 @@ var (
 // TestICMPProxyEcho makes sure we can send ICMP echo via the Request method and receives response via the
 // ListenResponse method
 func TestICMPProxyEcho(t *testing.T) {
-	skipWindows(t)
+	skipNonDarwin(t)
 	const (
 		echoID = 36571
 		endSeq = 100
 	)
-	proxy, err := NewICMPProxy("udp4", localhostIP.AsSlice(), &noopLogger)
+
+	proxy, err := NewICMPProxy(localhostIP.AsSlice(), &noopLogger)
 	require.NoError(t, err)
 
 	proxyDone := make(chan struct{})
@@ -71,7 +72,7 @@ func TestICMPProxyEcho(t *testing.T) {
 
 // TestICMPProxyRejectNotEcho makes sure it rejects messages other than echo
 func TestICMPProxyRejectNotEcho(t *testing.T) {
-	skipWindows(t)
+	skipNonDarwin(t)
 	msgs := []icmp.Message{
 		{
 			Type: ipv4.ICMPTypeDestinationUnreachable,
@@ -96,7 +97,7 @@ func TestICMPProxyRejectNotEcho(t *testing.T) {
 			},
 		},
 	}
-	proxy, err := NewICMPProxy("udp4", localhostIP.AsSlice(), &noopLogger)
+	proxy, err := NewICMPProxy(localhostIP.AsSlice(), &noopLogger)
 	require.NoError(t, err)
 
 	responder := echoFlowResponder{
@@ -116,8 +117,8 @@ func TestICMPProxyRejectNotEcho(t *testing.T) {
 	}
 }
 
-func skipWindows(t *testing.T) {
-	if runtime.GOOS == "windows" {
+func skipNonDarwin(t *testing.T) {
+	if runtime.GOOS != "darwin" {
 		t.Skip("Cannot create non-privileged datagram-oriented ICMP endpoint on Windows")
 	}
 }
@@ -146,5 +147,5 @@ func (efr *echoFlowResponder) validate(t *testing.T, echoReq *packet.ICMP) {
 	require.Equal(t, 0, decoded.Code)
 	require.NotZero(t, decoded.Checksum)
 	// TODO: TUN-6586: Enable this validation when ICMP echo ID matches on Linux
-	//require.Equal(t, echoReq.Body, decoded.Body)
+	require.Equal(t, echoReq.Body, decoded.Body)
 }
diff --git a/packet/flow.go b/packet/flow.go
index 2b82e562..188f3063 100644
--- a/packet/flow.go
+++ b/packet/flow.go
@@ -2,6 +2,7 @@ package packet
 
 import (
 	"errors"
+	"fmt"
 	"net/netip"
 	"sync"
 )
@@ -12,7 +13,9 @@ var (
 
 // FlowID represents a key type that can be used by FlowTracker
 type FlowID interface {
-	ID() string
+	// Type returns the name of the type that implements the FlowID
+	Type() string
+	fmt.Stringer
 }
 
 type Flow struct {
diff --git a/supervisor/supervisor.go b/supervisor/supervisor.go
index 135c59a7..c6bca29e 100644
--- a/supervisor/supervisor.go
+++ b/supervisor/supervisor.go
@@ -119,11 +119,12 @@ func NewSupervisor(config *TunnelConfig, orchestrator *orchestration.Orchestrato
 	if useDatagramV2(config) {
 		// For non-privileged datagram-oriented ICMP endpoints, network must be "udp4" or "udp6"
 		// TODO: TUN-6654 listen for IPv6 and decide if it should listen on specific IP
-		icmpProxy, err := ingress.NewICMPProxy("udp4", net.IPv4zero, config.Log)
+		icmpProxy, err := ingress.NewICMPProxy(net.IPv4zero, config.Log)
 		if err != nil {
-			return nil, err
+			log.Logger().Warn().Err(err).Msg("Failed to create icmp proxy, will continue to use datagram v1")
+		} else {
+			edgeTunnelServer.icmpProxy = icmpProxy
 		}
-		edgeTunnelServer.icmpProxy = icmpProxy
 	}
 
 	useReconnectToken := false