If it helps someone, here is a minimal config that exposes the issue at startup:

#!KAMAILIO

debug=3
log_stderror=yes

children=2

listen=udp:127.0.0.1
listen=tcp:127.0.0.1

loadmodule "tm.so"
loadmodule "pv.so"
loadmodule "http_async_client.so"


request_route {
    return;
}

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