These are roughly the steps that I've followed to switch to OpenSSL 1.0.2r and rebuild Kamailio TLS module. Hope this helps!

First of all you need to make and install OpenSSL 1.0.2r from source.

sudo apt install build-essential checkinstall zlib1g-dev -y

cd /usr/src

wget https://www.openssl.org/source/openssl-1.0.2r.tar.gz

tar -xvzf openssl-1.0.2r.tar.gz

cd openssl-1.0.2r

./config -d --prefix=/usr/local/ssl --openssldir=/usr/local/ssl shared zlib

make
make test

make install

nano /etc/ld.so.conf.d/openssl-1.0.2r.conf

Add this line and save:
/usr/local/ssl/lib

sudo ldconfig -v

mv /usr/bin/c_rehash /usr/bin/c_rehash.BEKUP
mv /usr/bin/openssl /usr/bin/openssl.BEKUP

export PATH=$PATH:/usr/local/ssl/bin

Link binaries to path:
sudo ln -s /usr/local/ssl/bin/c_rehash /usr/bin/c_rehash
sudo ln -s /usr/local/ssl/bin/openssl /usr/bin/openssl

Restart.
sudo shutdown -r now

Check OpenSSL path, should return '/usr/bin/openssl'.
which openssl

Check OpenSSL version, should return 'OpenSSL 1.0.2r 26 Feb 2019'
openssl version

Modify '/usr/src/kamailio/src/modules/tls/makefile'.

Changed this:
ifneq ($(SSL_BUILDER),)
DEFS += $(shell $(SSL_BUILDER) --cflags)
LIBS += $(shell $(SSL_BUILDER) --libs)
else
DEFS += -I$(LOCALBASE)/ssl/include
LIBS += -L$(LOCALBASE)/lib -L$(LOCALBASE)/ssl/lib
-L$(LOCALBASE)/lib64 -L$(LOCALBASE)/ssl/lib64
-lssl -lcrypto
# NOTE: depending on the way in which libssl was compiled you might
# have to add -lz -lkrb5 (zlib and kerberos5).
# E.g.: make TLS_HOOKS=1 TLS_EXTRA_LIBS="-lz -lkrb5"
endif

To this:
DEFS+= -I/usr/local/ssl/include
LIBS+= -L/usr/local/ssl/lib
-lssl -lcrypto

Make clean, make and make install:
cd /usr/src/kamailio/src/modules/tls
make clean
make
make install

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