v5.3.x series is out of maintenance, we cannot help troubleshooting older releases. You have to upgrade to latest 5.5.x or at least 5.4.x and see if it is the same behaviour, then attach again the relevant logs and useful information, in order to match with the source code.
Also, Kamailio typically logs error messages on many unexpected transport layer events, but there are cases when these events are happening due to the type of deployment and UAs (e.g., mobile devices loosing often the internet link). One can lower the `debug` parameter value or set per module debug level with debugger module to control the syslog output.