According [RFC3261](https://datatracker.ietf.org/doc/html/rfc3261#section-19.1.2)
The default transport is scheme dependent. For sip:, it is UDP.
For sips:, it is TCP.
According to the OPTIONS message above, Kamailio tries to use UDP transport for "sips" schema. Another approach, as a workaround, update the Contac header and add "transport=tcp" when using "sips" schema.