How to know if remote peer is disconnected when using Cloudflare Calls SFU?

Is there any way to determine if a remote peer is disconnected while using the Cloudflare SFU without a signaling server?

One solution would be implementing a signaling server that sends a heartbeat every 5 seconds. If no response is received, the session could be terminated.

However, since the client’s peer connection is aware of other connections, I assume it should detect the disconnection.

This is what I have tried to check, but to no avail.

 peerConnection.ontrack = (event: RTCTrackEvent) => {
  const checkTrack = setInterval(() => {
    if (event.track.readyState === "ended") {
      console.log(`Track ${event.track.id} is closed with mid ${event.transceiver.mid}`);
      clearInterval(checkTrack);
    }

    if (event.transceiver.currentDirection === 'stopped' || event.transceiver.currentDirection === 'inactive') {
      console.log(`Transceiver ${event.track.id} is closed with mid ${event.transceiver.mid}`);
      clearInterval(checkTrack);
    }
  }, 500);

  event.track.onended = () => {
    console.log(`${event.transceiver.mid} is ended, ${event.track.id}`);
  };

  event.track.onmute = () => {
    console.log(`${event.transceiver.mid} is muted, ${event.track.id}`);
  };
};