Does consul sidecars support websockets upstream?

Is it possible to configure a consul agent sidecar with a websocket upstream? I have tried the following configuration but it doesn't work:

{
  "bind_addr": "172.17.0.2",
  "data_dir": "/consul/data",
  "datacenter": "dc1",
  "node_id" : "98dc3bf4-a364-46d9-8b72-624963064ab2",
  "node_name": "socket-client-agent",
  "leave_on_terminate": true,
  "ports": [
    {
      "grpc": 8502
    }
   ],
  "server": false,
  "service": [
  {
   "address": "172.17.0.3",
   "connect": [
     {
       "sidecar_service": [
         {
           "checks": [
             {
               "interval": "10s",
               "name": "socket-client-sidecar-proxy",
               "tcp": "172.17.0.3:21000"
             }
           ],
          "port": 21000,
          "proxy": [
            {
              "config": [
                {
                  "bind_address": "0.0.0.0",
                  "bind_port": 21000,
                  "protocol": "tcp"
                }
              ],
              "upstreams": [
                {
                  "destination_name": "sockets-server",
                  "local_bind_port": 5001,
                  "config": {
                    "protocol": "tcp"
                  }
                }
              ]
            }
          ]
        }
      ]
    }
   ],
   "id": "socket-client-0",
   "name": "socket-client",
   "port": 5000
   }
   ],
   "ui_config": [
   {
     "enabled": false
   }
  ]
}

From the configuration I'm trying to connect to sockets-server service which uses websockets protocol. I'm using envoy as sidecar proxy.

Currently Consul does not configure Envoy correctly to support WebSocket upgrades. This GitHub issue has more detail on the issue, and potential fix – https://github.com/hashicorp/consul/issues/9473.