Yes, this is possible with a softphone. You will need to reference the Configuring Simple Remote Phones for the NetVanta 7000 Series guide as well as configure the softphone with the appropriate SIP server and port number to match your NetVanta 7100 setup. One thing to note is that R10.3.0 had a bug where audio would not work on simple remote phones if VQM was configured on the NetVanta 7100. This was addressed in R10.5.0.
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Found that it is also necessary to disable the SIP ALG on the remote router (if using an Adtran router, as it will prevent the remote softphone from registring via the Simple remote phone method.