Today, more and more enterprises are embarking on a digital transformation where most of their applications are hosted in the Cloud. As a result, a reliable Wide Area Network (WAN) has become a primary need to interconnect their distributed branch offices and data centers that accommodate those applications. Software-Defined Wide Area Network (SD-WAN) represents the most promising technology solution for next-generation enterprise networks, being able to increase network agility and reduce costs. In this paper, we present an experimental SD-WAN solution capable of running and optimizing delay-sensitive high-priority services, such as real-time video streaming, while minimizing downtime caused by network failures. This solution comprises a monitoring and a traffic engineering system for SD-WAN. The first consists of a Transport-layer Passive Monitoring (TPM) system based on extended Berkeley Packet Filter (eBPF) technology with the goal of monitoring TCP flows; the second consists of an application, running inside the SD-WAN controller, with the goal of orchestrating the network traffic in consideration of the monitoring measurements by ensuring rapid recovery and resilience in case of unexpected congestion events. We validate our solution over two SD-WAN testbeds: the first is hosted in our laboratory at Politecnico di Milano, while the second is deployed in a municipal network of an Italian city. Results show that our SD-WAN solution can increase the overall service availability while meeting the stringent QoS requirements of delay-sensitive services.s