I've noticed that freeradius-client was missing so I created a new Dockerfile to handle this like so:

FROM kamailio/kamailio:5.3.1-jessie

RUN apt-get update 
RUN apt-get install -y --no-install-recommends ca-certificates build-essential git python python-pip python-setuptools file pkg-config

RUN cd /usr/local/src \
    && git clone https://github.com/FreeRADIUS/freeradius-client.git \
    && cd freeradius-client/ \
    && ./configure \
    && make \
    && make install

RUN ldconfig

EXPOSE 5060

ENTRYPOINT ["kamailio", "-DD", "-E"]

Running ldd on the auth_radius.so module afterwards, states:

root@bea2be591c38:/usr/lib/x86_64-linux-gnu/kamailio/modules# ldd auth_radius.so
	linux-vdso.so.1 (0x00007ffc503e5000)
	libfreeradius-client.so.2 => /usr/local/lib/libfreeradius-client.so.2 (0x00007faf7559e000)
	libc.so.6 => /lib/x86_64-linux-gnu/libc.so.6 (0x00007faf751f3000)
	libcrypt.so.1 => /lib/x86_64-linux-gnu/libcrypt.so.1 (0x00007faf74fbc000)
	libnsl.so.1 => /lib/x86_64-linux-gnu/libnsl.so.1 (0x00007faf74da4000)
	/lib64/ld-linux-x86-64.so.2 (0x00007faf759c4000)

I am currently trying to build the auth_radius.so manually and see if something changes. I am currently getting a implicit declaration warning about VENDOR() which I am guess comes from radcli, although I explicitly run FREERADIUS=1 make

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