The error comes from mysql library. As I can see you installed the kamailio
5.3.5+ubuntu18.04 on an ubuntu 20.04, so very likely it is a mismatch with what library is
used for building the packages and what is available on the system.
Try to compile from sources and see what you get. Or use the Ubuntu 20.04 packages for
Kamailio 5.4.0.
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