In case someone else runs into this issue -- it was far from transparent, but my best guess is it was caused by some combination of file permission issues. These are the various things on CentOS 7 that were tweaked to allow a core dump

The following combination of things were changed:

/etc/sysctl.d/99-sysctl.conf

kernel.core_pattern = /tmp/core.%e.%p.%h.%t
kernel.core_uses_pid=1
fs.suid_dumpable = 2

sysctl --system to reload kernel parameters

/etc/sysconfig/kamailio

DUMP_CORE=yes

May be required but unclear:
ulimit -c unlimited

Tested by running
kill -ABRT <PID of Kamailio Child>

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