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.

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