How do I ping a NAP from CLI

Is there a command to test for remote NAPs reachability on CLI?

You can use the Centos ping command to check the connectivity between your SBC and the far end. Please use in following format

#ping -I interface destination
Example;
#ping -I voip0 8.8.8.8

ping -I voip0.3001 196.1.30.98
12:22:09.225041 IP 197.234.70.22 > 197.234.70.22: ICMP host 196.1.30.98 unreachable, length 92
12:22:09.225048 IP 197.234.70.22 > 197.234.70.22: ICMP host 196.1.30.98 unreachable, length 92
12:22:09.225053 IP 197.234.70.22 > 197.234.70.22: ICMP host 196.1.30.98 unreachable, length 92

I tried that, no luck, Ping from sbc out doesn’t work, but ping from out in is working.

You need to check your other network elements if one of them blocking to reach to 196.1.30.98.

12:22:09.225041 IP 197.234.70.22 > 197.234.70.22 : ICMP host 196.1.30.98 unreachable, length 92
This part looks to me more like internal FW.

Because local lan is working:
13:29:05.524467 IP 197.234.70.22 > 197.234.70.19 : ICMP echo request, id 422, seq 1, length 64
13:29:05.524467 IP 197.234.70.22 > 197.234.70.19: ICMP echo request, id 422, seq 1, length 64
13:29:05.525025 ethertype IPv4, IP 197.234.70.19 > 197.234.70.22: ICMP echo reply, id 422, seq 1, length 64
13:29:05.525025 IP 197.234.70.19 > 197.234.70.22: ICMP echo reply, id 422, seq 1, length 64

Would you try the following command and check if packets go out from the sbc?
traceroute -i