DTLS session resumption

Does MbedTLS support DTLS session resumption? More specifically, I want to use mbedtls_ssl_session_save, and mbedtls_ssl_session_load to save and load a session.

There is such an example in ssl_client2.c, however dtls.client.c doesn’t use session at all, which makes me wonder is it not supported for DTLS? However I cannot find documentation regarding this topic; there are few discussion in the forum on this, exception 1 on resumption with DTLSSocket, which does not fit my scenario.

Or are we supposed to use connection id, which is not officially supported yet by MbedTLS, to resume a session?