v12.06.23 RC1 is available for download.
ATTENTION! NERDGASM ALERT!! 
The following, once the defaults work (ahem) would all go on behind the scenes. Consider yourself warned. If you're still interested, read on.... 
This uses a slightly different way to add rewrite rules, probably best so far. It uses the generate_rewrite_rules filter to add rules dynamically, so they are effectively added for each page load. A flush is not performed, so performance is not hit.
The added rules are those set up on the Installation page, so you can tailor them to your site if, for any reason, the suggested values don't tie in with your site. But they should work as suggested.
What is really good, is that you can check and see that the rewrite rules have been added. To do this, on Symposium->Settings switch on debug mode (remember this adds a lot of what appear as nonsense to your site visitors). Then, at the top of the page on your site, is a link to "Show rewrite rules" which will display the rules that WordPress is trying to interpret - they are analysed in the order they are listed. WP Symposium rewrite rules for the forum should appear at or near the top, so that they get considered first.
This will let you see if another plugin is getting their rewrite rules in first.
Attached here are images showing the installation page setup, the link shown in debug mode, the output from rewrite rules if you click on the link. WP Symposium entries are highlighted.
In the rewrite rules shown, you can test the redirect by copying the target after the => and replacing $matches[1] and $matches[2] with one of your forum categories and topic titles. Remember to make them match what the stub would be with spaces replaced with a hypen, and only the letters A-Z, a-z and 0-9 included.
For example, using WP Symposium website, from:
discuss/([^/]+)/([^/]+)/? => index.php?pagename=Discuss&stub=$matches[1]/$matches[2]
I take the target after => and replace with a category and a forum topic title:
index.php?pagename=Discuss&stub=forum-plugin/wysiwyg-toolbar-broken
then add that to my site root:
http://www.wpsymposium.com/index.php?pagename=Discuss&stub=forum-plugin/wysiwyg-toolbar-broken
and entering that into the browser, I get to see the topic on the forum. Try the above URL and you'll see it in action.
This will let you test that the target of the rewrite rules work on your site.
The way the rewrite rule gets the category and topic title from the URL entered is from the part of the rule before => which above is
discuss/([^/]+)/([^/]+)/?
Translated this means a URL of the site name followed by discuss, a slash, anything other than a slash (ie. the category), a slash and then anything other than a slash (the topic) with maybe a slash at the end. So
http://www.wpsymposium.com/discuss/releases/v120616/
would match because, after wpsymposium.com and a slash, the word discuss is there, then a slash, then the category (releases), another slash, the topic title (v120616) and then a slash at the end.
Note that WordPress will assume the site address (URL) as the "base" of the rule.
You can play around with what you put in the Installation page, but it should tie in with the structure of your site, and ideally what is suggested on the Installation page.
This will let you test the complete rule and change it if you want to.
Still reading? Well I sympathise.... congratulations or commiserations, not sure which.