It seems that it is caused by an infinite loop of request to itself. That case normally is captured by using maxfwd module to handle Max-Forwards header and avoid looping. You should consider adding that in your config, you can see how it is done in the default kamailio.cfg.
In this case, somehow the length of the outgoing branch request buffer ended up negative (the invite_len), resulting in an inappropriate size of the buffer needed to build the correspinding CANCEL. I added safety checks can catch it with the commit:
Now is only in the master branch, in a couple of days I will backport if no issue is reported.
Meanwhile you can test by cherry picking locally the commit in branch 5.2 and report if works ok or not.
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