Looks there is bug in trixie/rules comment or it is misleading:

# Module groups that are packaged in separate packages (with the name # kamailio-$(group_name)-modules). # Note: the order is important (should be in dependency order, the one # on which other depend first) PACKAGE_GROUPS += mysql geoip2 json utils

With the above value, modules in those groups are included in kamailio_6.1.1_amd64.deb atleast when control only includes kamailio package.

-- Juha