I have the same issue. I also had configured latency_log,latency_cfg_log,latency_limit_db and latency_limit_action. If I remove that configurations I don't have that issue. If you need more information, let me know.
# kamailio -v version: kamailio 5.3.4 (x86_64/linux) flags: USE_TCP, USE_TLS, USE_SCTP, TLS_HOOKS, USE_RAW_SOCKS, DISABLE_NAGLE, USE_MCAST, DNS_IP_HACK, SHM_MMAP, PKG_MALLOC, Q_MALLOC, F_MALLOC, TLSF_MALLOC, DBG_SR_MEMORY, USE_FUTEX, FAST_LOCK-ADAPTIVE_WAIT, USE_DNS_CACHE, USE_DNS_FAILOVER, USE_NAPTR, USE_DST_BLACKLIST, HAVE_RESOLV_RES, TLS_PTHREAD_MUTEX_SHARED ADAPTIVE_WAIT_LOOPS 1024, MAX_RECV_BUFFER_SIZE 262144, MAX_URI_SIZE 1024, BUF_SIZE 65535, DEFAULT PKG_SIZE 8MB poll method support: poll, epoll_lt, epoll_et, sigio_rt, select. id: unknown compiled with gcc 8.3.0 # uname -a Linux debian 4.19.0-6-amd64 #1 SMP Debian 4.19.67-2+deb10u1 (2019-09-20) x86_64 GNU/Linux