That's happening with Kamailio 5.3.1 and 5.2.5 too.
Crash is happening when Im register 2 devices with the same extension.
(gdb) bt
#0 0x000000000057cca2 in xavp_get_internal (name=0x8, list=0x0, idx=0, prv=0x0) at core/xavp.c:288
#1 0x0000000000581869 in xavp_insert (xavp=0x0, idx=0, list=0x0) at core/xavp.c:752
#2 0x00007f05be0ee3a1 in ki_t_next_contacts (msg=0x7f05cb76c218) at t_serial.c:552
#3 0x00007f05be0f09e8 in t_next_contacts (msg=0x7f05cb76c218, key=0x0, value=0x0) at t_serial.c:756
#4 0x0000000000434d41 in do_action (h=0x7ffe93c9cad0, a=0x7f05cb642250, msg=0x7f05cb76c218) at core/action.c:1067
#5 0x00000000004418e8 in run_actions (h=0x7ffe93c9cad0, a=0x7f05cb642250, msg=0x7f05cb76c218) at core/action.c:1572
#6 0x0000000000441fa9 in run_actions_safe (h=0x7ffe93c9de90, a=0x7f05cb642250, msg=0x7f05cb76c218) at core/action.c:1636
#7 0x000000000065734e in rval_get_int (h=0x7ffe93c9de90, msg=0x7f05cb76c218, i=0x7ffe93c9cf78, rv=0x7f05cb642570, cache=0x0) at core/rvalue.c:912
#8 0x000000000065b8fe in rval_expr_eval_int (h=0x7ffe93c9de90, msg=0x7f05cb76c218, res=0x7ffe93c9cf78, rve=0x7f05cb642568) at core/rvalue.c:1910
#9 0x000000000065bd51 in rval_expr_eval_int (h=0x7ffe93c9de90, msg=0x7f05cb76c218, res=0x7ffe93c9d42c, rve=0x7f05cb642c98) at core/rvalue.c:1918
#10 0x0000000000434807 in do_action (h=0x7ffe93c9de90, a=0x7f05cb645028, msg=0x7f05cb76c218) at core/action.c:1043
#11 0x00000000004418e8 in run_actions (h=0x7ffe93c9de90, a=0x7f05cb637e48, msg=0x7f05cb76c218) at core/action.c:1572
#12 0x0000000000431767 in do_action (h=0x7ffe93c9de90, a=0x7f05cb583858, msg=0x7f05cb76c218) at core/action.c:691
#13 0x00000000004418e8 in run_actions (h=0x7ffe93c9de90, a=0x7f05cb574750, msg=0x7f05cb76c218) at core/action.c:1572
#14 0x0000000000442071 in run_top_route (a=0x7f05cb574750, msg=0x7f05cb76c218, c=0x0) at core/action.c:1657
#15 0x00000000005874a9 in receive_msg (buf=0xa6ec00 <buf.6868> "OPTIONS
sip:10@192.168.0.231:5060 SIP/2.0\r\nVia: SIP/2.0/UDP 192.168.0.231;branch=z9hG4bKd8a9.1b3abe656532065414a2f35a8916008d.1\r\nVia: SIP/2.0/UDP 192.168.0.131:5060;received=192.168.0.131;branch=z9hG"...,
len=694, rcv_info=0x7ffe93c9e4d0) at core/receive.c:341
#16 0x000000000047bf81 in udp_rcv_loop () at core/udp_server.c:541
#17 0x0000000000424f9d in main_loop () at main.c:1669
#18 0x000000000042c688 in main (argc=13, argv=0x7ffe93c9ea18) at main.c:2710
Thank you.