diff --git a/package-lock.json b/package-lock.json
index 73dd3160e..4c2a592f1 100644
--- a/package-lock.json
+++ b/package-lock.json
@@ -9,7 +9,7 @@
       "version": "0.4.0",
       "license": "Apache-2.0",
       "dependencies": {
-        "@viamrobotics/rpc": "^0.1.37",
+        "@viamrobotics/rpc": "^0.1.38",
         "exponential-backoff": "^3.1.1"
       },
       "devDependencies": {
@@ -1385,9 +1385,9 @@
       }
     },
     "node_modules/@viamrobotics/rpc": {
-      "version": "0.1.37",
-      "resolved": "https://registry.npmjs.org/@viamrobotics/rpc/-/rpc-0.1.37.tgz",
-      "integrity": "sha512-gR95RMtpkCRDmScY7gpuygPF3S+oIJdl8ELTUm5J2Nnyyk88XVZHFM6xiKdsdAFdsUe5oX6Y6TvpNh39tVxDhQ==",
+      "version": "0.1.38",
+      "resolved": "https://registry.npmjs.org/@viamrobotics/rpc/-/rpc-0.1.38.tgz",
+      "integrity": "sha512-NWCXv0nKR/Ru2wor3CPy8v+0C2HRO+5epa7zw1O0zEPIRa5u6dvRQ3YNXJmE0DJhR83uLS7lWIhPqP0o/pIIPQ==",
       "dependencies": {
         "@improbable-eng/grpc-web": "^0.13.0",
         "google-protobuf": "^3.14.0"
@@ -10615,9 +10615,9 @@
       "requires": {}
     },
     "@viamrobotics/rpc": {
-      "version": "0.1.37",
-      "resolved": "https://registry.npmjs.org/@viamrobotics/rpc/-/rpc-0.1.37.tgz",
-      "integrity": "sha512-gR95RMtpkCRDmScY7gpuygPF3S+oIJdl8ELTUm5J2Nnyyk88XVZHFM6xiKdsdAFdsUe5oX6Y6TvpNh39tVxDhQ==",
+      "version": "0.1.38",
+      "resolved": "https://registry.npmjs.org/@viamrobotics/rpc/-/rpc-0.1.38.tgz",
+      "integrity": "sha512-NWCXv0nKR/Ru2wor3CPy8v+0C2HRO+5epa7zw1O0zEPIRa5u6dvRQ3YNXJmE0DJhR83uLS7lWIhPqP0o/pIIPQ==",
       "requires": {
         "@improbable-eng/grpc-web": "^0.13.0",
         "google-protobuf": "^3.14.0"
diff --git a/package.json b/package.json
index e87763e12..9d819faa8 100644
--- a/package.json
+++ b/package.json
@@ -45,7 +45,7 @@
   },
   "homepage": "https://github.com/viamrobotics/viam-typescript-sdk#readme",
   "dependencies": {
-    "@viamrobotics/rpc": "^0.1.37",
+    "@viamrobotics/rpc": "^0.1.38",
     "exponential-backoff": "^3.1.1"
   },
   "devDependencies": {
diff --git a/src/robot/client.ts b/src/robot/client.ts
index b307d9e8b..d70d75cc3 100644
--- a/src/robot/client.ts
+++ b/src/robot/client.ts
@@ -55,6 +55,12 @@ interface SessionOptions {
   disabled: boolean;
 }
 
+export interface ConnectOptions {
+  authEntity?: string;
+  creds?: Credentials;
+  priority?: number;
+}
+
 abstract class ServiceClient {
   constructor(public serviceHost: string, public options?: grpc.RpcOptions) {}
 }
@@ -369,10 +375,11 @@ export class RobotClient extends EventDispatcher implements Robot {
     return this.peerConn?.iceConnectionState === 'connected';
   }
 
-  public async connect(
+  public async connect({
     authEntity = this.savedAuthEntity,
-    creds = this.savedCreds
-  ) {
+    creds = this.savedCreds,
+    priority,
+  }: ConnectOptions = {}) {
     if (this.connecting) {
       // This lint is clearly wrong due to how the event loop works such that after an await, the condition may no longer be true.
       // eslint-disable-next-line @typescript-eslint/no-unnecessary-condition
@@ -407,6 +414,11 @@ export class RobotClient extends EventDispatcher implements Robot {
         },
       };
 
+      // Webrtcoptions will always be defined, but TS doesn't know this
+      if (priority !== undefined && opts.webrtcOptions) {
+        opts.webrtcOptions.additionalSdpFields = { 'x-priority': priority };
+      }
+
       // Save authEntity, creds
       this.savedAuthEntity = authEntity;
       this.savedCreds = creds;
diff --git a/src/robot/dial.ts b/src/robot/dial.ts
index 03fa58126..715cf08c4 100644
--- a/src/robot/dial.ts
+++ b/src/robot/dial.ts
@@ -58,7 +58,7 @@ const dialDirect = async (conf: DialDirectConf): Promise<RobotClient> => {
   if (conf.credential) {
     creds = conf.credential;
   }
-  await client.connect(conf.authEntity, creds);
+  await client.connect({ authEntity: conf.authEntity, creds });
 
   // eslint-disable-next-line no-console
   console.debug('connected via gRPC');
@@ -90,6 +90,7 @@ export interface DialWebRTCConf {
   // WebRTC
   signalingAddress: string;
   iceServers?: ICEServer[];
+  priority?: number;
 }
 
 const dialWebRTC = async (conf: DialWebRTCConf): Promise<RobotClient> => {
@@ -120,7 +121,11 @@ const dialWebRTC = async (conf: DialWebRTCConf): Promise<RobotClient> => {
   if (conf.credential) {
     creds = conf.credential;
   }
-  await client.connect(conf.authEntity || impliedURL, creds);
+  await client.connect({
+    authEntity: conf.authEntity || impliedURL,
+    creds,
+    priority: conf.priority,
+  });
 
   // eslint-disable-next-line no-console
   console.debug('connected via WebRTC');