From log messages it looks like you have to set `bind_ipv6_link_local=1`.
Regarding the ipv6 params default values: not sure about others, but I haven't seen relevant increase in SIP over IPv6 and turning auto-binding will use more resources on server side (creating children processes) without being used. Before next major release we can have another round of how default config should be updated. But, again, it should not become something complex for new comers. There is always the `misc/examples/pkg/kamailio-oob.cfg` which aims to be a more complete/complex `out-of-box` config, you can add there.