Daniel, thank you for your answer.
You did not understand me completely. This is my fault.
Let me put it this way. I want kamailio to handle NAT (fixing nat only from client's side) not being registrar itself. This also includes nat pinning. usrloc module is a dependency for nat pinning in nathelper module.
Request: UAC behind NAT ===> kamailio == fixed contact ==> freeswitch
Respnse: freeswitch == 200 OK ==> kamailio (store contact in usrloc, start pinning) == 200 OK ==> UAC behind NAT
Kamailio starts pinning UACs behind NAT only after successful authentication and registration on freeswitch box.
No nat fixes between kamailio and freeswitch (only from UAC).