The 53-nightly release does fix the issue.

However, related: is it intentional that apt-get upgrade doesn't show an available upgrade to the nightly release ?

$ apt-cache policy kamailio
kamailio:
  Installed: 5.3.3+bionic
  Candidate: 5.3.3+bionic
  Version table:
 *** 5.3.3+bionic 100
        100 /var/lib/dpkg/status
     5.3.3+0~20200417092406.72+bionic 500
        500 http://deb.kamailio.org/kamailio53-nightly bionic/main amd64 Packages

$ sudo apt-get upgrade kamailio
Reading package lists... Done
Building dependency tree       
Reading state information... Done
kamailio is already the newest version (5.3.3+bionic).
Calculating upgrade... Done
0 upgraded, 0 newly installed, 0 to remove and 0 not upgraded.

maybe it is because apt sees version 5.3.3+0~20200417092406.72+bionic lower than 5.3.3.

when I specify each package version, it does install and fixes the issue.

$ sudo apt-get -s install \
>  kamailio=5.3.3+0~20200417092406.72+bionic \
>  kamailio-extra-modules=5.3.3+0~20200417092406.72+bionic \
>  kamailio-mysql-modules=5.3.3+0~20200417092406.72+bionic \
>  kamailio-snmpstats-modules=5.3.3+0~20200417092406.72+bionic \
>  kamailio-tls-modules=5.3.3+0~20200417092406.72+bionic \
>  kamailio-websocket-modules=5.3.3+0~20200417092406.72+bionic
Reading package lists... Done
Building dependency tree       
Reading state information... Done
Suggested packages:
  kamailio-berkeley-modules kamailio-cpl-modules kamailio-dbg kamailio-ldap-modules kamailio-lua-modules kamailio-perl-modules kamailio-postgres-modules kamailio-presence-modules
  kamailio-python-modules kamailio-radius-modules kamailio-unixodbc-modules kamailio-xml-modules kamailio-xmpp-modules
The following packages will be DOWNGRADED:
  kamailio kamailio-extra-modules kamailio-mysql-modules kamailio-snmpstats-modules kamailio-tls-modules kamailio-websocket-modules

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