Regarding the build paths for packagin, i think a the solution was quite simple 
after some research:

After 954fa3188b3e5e18b0992667b8904a1d17430598, you should have the expected 
behavior on the packages structure after these commands:

Configure from kamailio root folder 
```
# (groups not yet defined, use either `ALL` or `DEFAULT` for now and include or 
exclude whichever you want
# and remove `--fresh` if CMake version less than 3.20 I think):

cmake -S . -B build_folder -DCMAKE_INSTALL_PREFIX=/usr -DINCLUDE_MODULES="" 
-DCMAKE_EXPORT_COMPILE_COMMANDS:BOOL=TRUE -DVERBOSE=ON 
-DMODULE_GROUP_NAME=DEFAULT -DBUILD_DOC=OFF --fresh 
-DEXCLUDE_MODULES="db_oracle dnssec jwt microhttpd nats nsq ruxc secsipid_proc 
stirshaken tls_wolfssl"  -DCMAKE_BUILD_TYPE="Debug"
```

Build kamailio and modules:
```
cmake --build build_folder 
```

Install it with DESTDIR env variable so you get the structure ready for 
packaging:
```
# Replace ./kamailio-destdir with a new folder you want all these to be 
installed.
DESTDIR=./kamailio-destdir cmake --install build_folder
```
This will produced the following folder structure:
```
tree kamailio-destdir -L 3
kamailio-destdir
├── etc
│   └── kamailio
│       ├── kamailio.cfg
│       ├── kamailio.cfg.sample
│       ├── kamctlrc
│       └── kamctlrc.sample
└── usr
    ├── lib
    │   └── x86_64-linux-gnu
    └── sbin
        ├── kamailio
        ├── kamctl
        └── kamdbctl
```

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