> Can TEL uri format be used/supported in SIP Contact Header?

Yes.

> What scenarios can we support TEL URI in contact Header

Contact associated with dialog can only contain sip or sips (e.g. see RFC
3261 section 8.1.1.8, 12.1.1, and 12.1.2).  I don't recall any other
mandates that would prevent sending Contact containing tel URI within
other situations; however that doesn't mean that the device will behave as
the sender desired.
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