libjingle's developer guide quite vaguely mentions incompatibilities between libjingle's implementation of Jingle and XEP-0166's specification. It also mentions it is incompatible with XEP-0167, XEP-0176 and XEP-0177.
It never goes into detail what these differences are; in fact, it is unclear if perhaps these differences have been resolved.
What are the differences between XEPs and libjingle's implementation?
I've dug out specs for Google Talk's implementation (that is, the "old" libjingle): Google Talk Call Signaling. Compare with: XEP-0166
Not only that, but it appears Google finally updated libjingle to 0.5 to support both GTCS and XEP-0166.
I'll be accepting my own answer; nonetheless, a "thank you" goes to liori!
libjingle
exists for more than 3 years, and its protocol didn't change much. It was compatible with one of the early versions of XEP-0166... not sure now which one exactly, but I guess it was something around 0.15.
You might have better luck asking at the jdev mailing list.
All versions of this XEP are stored in a version control repository.
Anyway, many implementations use libjingle, so being compatible with libjingle might be more important for you than with XEP.