[sr-dev] [kamailio/kamailio] rfc5952#section-4.2.1 conformance (#2510)

[sergey-safarov]

### Description
According [rfc5952#section-4.2.1](https://tools.ietf.org/html/rfc5952#section-4.2.1) 
> **4.2.1.  Shorten as Much as Possible**
   The use of the symbol "::" MUST be used to its maximum capability.
   For example, 2001:db8:0:0:0:0:2:1 must be shortened to 2001:db8::2:1.

The current Kamailio master does not use `::` inside IPv6 address representation. Example
```
INVITE user at example.com SIP/2.0
Record-Route: <sip:[2600:1f1c:6d5:aa02:0:0:0:4];transport=tcp;r2=on;lr=on;ftag=gK0c013f75>
Record-Route: <sip:3.101.84.4;r2=on;lr=on;ftag=gK0c013f75>
Via: SIP/2.0/TCP [2600:1f1c:6d5:aa02:0:0:0:4];branch=z9hG4bK66f8.35b78246c71e1583d2785ae652c42ed5.0
```

### Possible Solutions
Port feature from another IPv6 address formatting functions with RFC5952 support.
Example: function [`x_IPv6ToString`](https://www.ncbi.nlm.nih.gov/IEB/ToolBox/CPP_DOC/doxyhtml/ncbi__ipv6_8c_source.html), string 404 - 440.

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