In my setup, Kamailio is listening on two sockets:

advertised_address="<public hostname>:5060"
listen=udp:10.0.0.100:5060
listen=udp:192.168.178.21:5060

I should also mention that I advertise a hostname, not an IP address.

The REGISTER request is sent automatically on start-up based on the information from the database:

modparam("uac", "reg_db_url", DB_URL)
modparam("uac", "reg_timer_interval", 59)
modparam("uac", "reg_retry_interval", 300)
modparam("uac", "reg_contact_addr", "<public hostname>:5060")

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