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UPDATE (24/05/2012): the new (2.3) version has just been approved by Apple. It has, among other things, improved UPnP support:

In my tests, directory listing indeed worked with Majestic. However, streaming didn't (all I saw was a black screen) and downloading have turned out to be VERY slow - more than an order of magnitude(!!!) slower than with GoodPlayer, under exactly the same circumstances. That is, UPnP-wise, this app still has a lot to be improved...