Same vanilla version of ca-certificates:

root@ip-172-31-22-12:~# dpkg -l |grep ca-cert
ii  ca-certificates                  20230311                       all          Common CA certificates

and just to verify the same number of certs:

root@ip-172-31-22-12:~# ls -l /etc/ssl/certs/|wc -l
282
root@ip-172-31-22-12:~# ls -l /etc/ssl/certs/*.crt|wc -l
1
root@ip-172-31-22-12:~# ls -l /etc/ssl/certs/*.pem|wc -l
140
root@ip-172-31-22-12:~# find /etc/ssl/certs/ -mindepth 1 -not -name '*.crt' -and -not -name '*.pem' |wc -l
140

private_key and certificate are files instead of links in my case.
the cert is a static self-signed cert, is has not been changed since initial install.

the error is consistent on tls.reload:

Feb  2 13:50:59 ip-172-31-22-12 /usr/sbin/kamailio[34076]: INFO: tls [tls_domain.c:345]: ksr_tls_fill_missing(): TLSs<default>: tls_method=25
Feb  2 13:50:59 ip-172-31-22-12 /usr/sbin/kamailio[34076]: INFO: tls [tls_domain.c:357]: ksr_tls_fill_missing(): TLSs<default>: certificate='/etc/dsiprouter/certs/dsiprouter-cert.pem'
Feb  2 13:50:59 ip-172-31-22-12 /usr/sbin/kamailio[34076]: INFO: tls [tls_domain.c:364]: ksr_tls_fill_missing(): TLSs<default>: ca_list='/etc/dsiprouter/certs/ca-list.pem'
Feb  2 13:50:59 ip-172-31-22-12 /usr/sbin/kamailio[34076]: INFO: tls [tls_domain.c:371]: ksr_tls_fill_missing(): TLSs<default>: ca_path='/etc/dsiprouter/certs/ca'
Feb  2 13:50:59 ip-172-31-22-12 /usr/sbin/kamailio[34076]: INFO: tls [tls_domain.c:378]: ksr_tls_fill_missing(): TLSs<default>: crl='(null)'
Feb  2 13:50:59 ip-172-31-22-12 /usr/sbin/kamailio[34076]: INFO: tls [tls_domain.c:382]: ksr_tls_fill_missing(): TLSs<default>: require_certificate=1
Feb  2 13:50:59 ip-172-31-22-12 /usr/sbin/kamailio[34076]: INFO: tls [tls_domain.c:390]: ksr_tls_fill_missing(): TLSs<default>: cipher_list='(null)'
Feb  2 13:50:59 ip-172-31-22-12 /usr/sbin/kamailio[34076]: INFO: tls [tls_domain.c:397]: ksr_tls_fill_missing(): TLSs<default>: private_key='/etc/dsiprouter/certs/dsiprouter-key.pem'
Feb  2 13:50:59 ip-172-31-22-12 /usr/sbin/kamailio[34076]: INFO: tls [tls_domain.c:401]: ksr_tls_fill_missing(): TLSs<default>: verify_certificate=1
Feb  2 13:50:59 ip-172-31-22-12 /usr/sbin/kamailio[34076]: INFO: tls [tls_domain.c:406]: ksr_tls_fill_missing(): TLSs<default>: verify_depth=9
Feb  2 13:50:59 ip-172-31-22-12 /usr/sbin/kamailio[34076]: INFO: tls [tls_domain.c:410]: ksr_tls_fill_missing(): TLSs<default>: verify_client=0
Feb  2 13:50:59 ip-172-31-22-12 /usr/sbin/kamailio[34076]: NOTICE: tls [tls_domain.c:1168]: ksr_tls_fix_domain(): registered server_name callback handler for socket [:0], server_name='<default>' ...
Feb  2 13:50:59 ip-172-31-22-12 /usr/sbin/kamailio[34076]: ERROR: tls [tls_domain.c:590]: load_cert(): TLSs<default>: Unable to load certificate file '/etc/dsiprouter/certs/dsiprouter-cert.pem'
Feb  2 13:50:59 ip-172-31-22-12 /usr/sbin/kamailio[34076]: ERROR: tls [tls_util.h:49]: tls_err_ret(): load_cert:error:03000072:digital envelope routines::decode error (sni: unknown)
Feb  2 13:50:59 ip-172-31-22-12 /usr/sbin/kamailio[34076]: ERROR: tls [tls_util.h:49]: tls_err_ret(): load_cert:error:0A00018F:SSL routines::ee key too small (sni: unknown)

the tls.reload error occurs whether kamailio is run as non-root system user and as root user.
it is definitely is not permissions.

what version of openssl are you on?

root@ip-172-31-22-12:~# openssl version
OpenSSL 3.0.11 19 Sep 2023 (Library: OpenSSL 3.0.11 19 Sep 2023)


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