For the kamctl command, you have to enclose the contact address parameter in quotes, otherwise the shell will split parameter at the first ;, which is delimiter for shell commands. So try with something like:

./kamctl fifo ul_rm_contact location 1040@191.168.1.10 'sip:1040@192.168.1.8:45573;rinstance=5494290a28b07472;transport=tcp'

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