Thanks Juha/list,
For stating clearly what the expected behaviour was...
If your Kamailio adds Record-Route header to INVITE, ACK will be routed based on that instead of Contact URI.
...because I had an error in my routing code. I was stripping 2 entire Route: headers instead of 2 Route: URIs from such headers. That solved my problem.
(And it was not a Kamailio problem, but in my own SIPproxy64 code.)
Cheers, -Rick