quick look at the path header, I did test the first 5.x version, with the same result.

I will probably start to debug, looking at this, it seems like the escaping may be expected :

static int prepend_path(sip_msg_t* _m, str *user, path_param_t param,
                str *add_params)
{
        struct lump *l;
        char *prefix, *suffix, *cp, *dp;
        const char *proto_str;
        int prefix_len, suffix_len;
        struct hdr_field *hf;

        /* maximum possible length of suffix */
        suffix_len = sizeof(";lr;r2=on;received=sip::12345%3Btransport%3Dsctp;ob;>\r\n")
                        + IP_ADDR_MAX_STR_SIZE + 2 + (add_params ? add_params->len : 0) + 1;

I will try to dig it further shortly

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