To reproduce, i installed a new Kamailio 5.3.5 from http://deb.kamailio.org/kamailio53 on a fresh debian 10 vm and only added:

--- kamailio.cfg	2020-06-22 14:21:22.000000000 +0200
+++ /home/kris/kamailio.cfg	2020-07-01 13:07:15.476661500 +0200
@@ -19,7 +19,7 @@
 # Several features can be enabled using '#!define WITH_FEATURE' directives:
 #
 # *** To run in debug mode:
-#     - define WITH_DEBUG
+#!define WITH_DEBUG
 #
 # *** To enable mysql:
 #     - define WITH_MYSQL
@@ -248,6 +248,7 @@
 loadmodule "cfg_rpc.so"
 loadmodule "acc.so"
 loadmodule "counters.so"
+loadmodule "tcpops.so"
 
 #!ifdef WITH_AUTH
 loadmodule "auth.so"
@@ -699,6 +700,11 @@
 		setflag(FLT_ACCMISSED);
 	}
 
+	xlog("L_INFO", "Contact found for user:$rU at $rd:$rp \n");
+	if(tcp_get_conid("$rd:$rp", "$var(conid)")) {
+		xlog("L_INFO", "connection id is: $var(conid)\n");
+	}
+
 	route(RELAY);
 	exit;
 }
root@

And $var(conid) is empty.

debug 3 lof file:
debug3-log.txt

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