looks like kamailio dont unerstand that he need handle 407 request
At my side i see that kamailio dont stops 407 request and resend it without any handling
I use asterisk->kamailio-provider scheme

At this scheme kamailio must stops proxy of get 407/401 and then make another invite with www-auth header

But it proxies 407 to asterisk back. and give errors above.

if (t_check_status("401|407")){
xlog("L_INFO", "Reply from provider on failure: $tU");
xlog("L_ERR","401/407 - Unauthorized. ($ci .) ($rm) from ($fu) (IP:$si:$sp) to ($Ri:$Rp). Must be authorized with digest Auth.");

    if (uac_auth()) {
        xlog("L_INFO", "CSeq diff: $dlg_var(cseq_diff)");
        t_relay();
    } else {
        xlog("L_INFO", "UAC_AUTH(): credentials not found");
    }
    t_relay();
}

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