The behaviour is according SIP specs, see `RFC 3261`, section `12.2 Requests within a Dialog`:
* https://tools.ietf.org/html/rfc3261#section-12.2
Relevant snippet:
``` Requests within a dialog MAY contain Record-Route and Contact header fields. However, these requests do not cause the dialog's route set to be modified, although they may modify the remote target URI. ```
I am not aware of any newer RFC amending that, if you know such, point it here.
Now, if one needs such behaviour out of SIP specs, I am fine to accept a contribution that makes it configurable with a modparam.
For the moment, I am going to label this as a request for enhancement. If nobody commits to implement it, it will be closed in the near future.