ctylihuai left a comment (kamailio/kamailio#4238)
Ok, so you have configured TCP listener:
listen=tcp:PCSCF_IP:5460
As said, I would suggest trying to do an update to a new Kamailio version before investigating further.
1.The tcp_main process was not configured as a worker, yet a local connection in the main process triggered tcpconn_read_timeout. Is it possible that when sending a TCP CRLF ping, the connection is disconnected, and then reconnecting and reusing the object causes this? https://github.com/kamailio/kamailio/issues/3443? The situation is somewhat similar.
Will tcp_connection_match and tcp_reuse_port be helpful?