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