Never mind, this is properly documented in the registrar module docs:

A call to lookup(...) always uses the path header if found, and inserts it as Route HF either in front of the first Route HF, or after the last Via HF if no Route is present. It also sets the destination uri to the first Path uri, thus overwriting the received-uri, because NAT has to be handled at the outbound-proxy of the UAC (the first hop after client's NAT).

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