So if Bria shows that my Obitalk is enabled (I have ObiONPC installed on the PC) and I can make outbound calls, I assume it must work in the other direction as well.
Yes, the outbound calls are routing via OBiON using your OBi softphone number and the OBiTALK network. The OBiTALK network does not use port 5060, which may explain why it is working for you.
To route calls in the other direction you need to send the calls incoming on your OBi202 to your softphone number. For example, if the incoming calls are coming in on sp1, then:
Voice Services > SP1 Service > X_InboundCallRoute:
{ph,pp(ob290123456)}
Where 290123456 is your softphone number. This will fork the incoming call to Phone Port 1 and to your softphone number/OBiON/Bria.
NB: I have no experience using Bria, the above should work with any PC based softphone if it is registered with the OBiON middleware.