I was able to do this by using Web Audio API. I fetched the audio tracks from both the streams and joined them into one using audio context.
var OutgoingAudioMediaStream = new MediaStream();
OutgoingAudioMediaStream.addTrack(OutgoingStream.getAudioTracks()[0]);
var IncomingAudioMediaStream = new MediaStream();
IncomingAudioMediaStream.addTrack(IncomingStream.getAudioTracks()[0]);
const audioContext = new AudioContext();
audioIn_01 = audioContext.createMediaStreamSource(OutgoingAudioMediaStream);
audioIn_02 = audioContext.createMediaStreamSource(IncomingAudioMediaStream);
dest = audioContext.createMediaStreamDestination();
audioIn_01.connect(dest);
audioIn_02.connect(dest);
var FinalStream = dest.stream;
This worked perfectly.
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