As the SAM protocol accepts a .b32.i2p address as the DESTINATION parameter for the STREAM CONNECT command, the NAMING LOOKUP round trip can be skipped on every outbound connection.
This should ostensibly make failure handling more accurate in certain situations as well, since a peer that cannot be resolved now returns CANT_REACH_PEER/TIMEOUT rather than there being an empty VALUE= key in the lookup reply. A missing VALUE= is a proxy error, so the attempt isn't recorded in AddrMan.
Router implementation versions that support this (Java I2P 0.9.48, i2pd 2.38.0) are older than ones supporting i2cp.leaseSetEncType=6,4 (see #35696), so there should be no compatibility issues here.
Source: https://i2p.net/en/docs/api/samv3/#sam-virtual-streams-connect
