FreeRTOS + TCP ARP only resolves when request is initiated from remote

Both these macros, if disabled, cause the IP task to filter the packets instead of the network driver task (EMAC task) using network driver-specific filtering functions.

Are there any ways to configure the driver to filter these properly?

Which version of FreeRTOS+TCP are you using? If using the newer versions then there are 2 network interfaces for STM32 - newer version and legacy. Please confirm which one is used.

I believe you previously had the ipconfigETHERNET_DRIVER_FILTERS_FRAME_TYPES enabled and the ipconfigETHERNET_DRIVER_FILTERS_PACKETS disabled? If thats the case something is causing eConsiderFrameForProcessing to drop the packets, adding more debug logs or breakpoints could help isolate the issue.