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.

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