The logs do not indicate where the problem is. You have to set `debug=3` in `kamailio.cfg`, then run again and attach here all the log messages printed by kamailio from start up, there should be a lot containing `DEBUG`.
Also, it would be good to get a core dump file, and then grab the `bt full` with `gdb`.
It should be something specific for your config, not strictly related to`tls` module, during the past week or so I deployed two times kamailio 5.4.x with tls on Debian Buster and starts fine.