/etc/kamailio/tls.cfg is in kamailio-tls-modules 5.1.2-1ubuntu2.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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# Example Kamailio TLS Configuration File
#
# This is the default server domain, settings
# in this domain will be used for all incoming
# connections that do not match any other server
# domain in this configuration file.
#
# We do not enable anything else than TLSv1
# over the public internet. Clients do not have
# to present client certificates by default.
#
[server:default]
method = TLSv1
verify_certificate = no
require_certificate = no
private_key = /etc/kamailio/kamailio-selfsigned.key
certificate = /etc/kamailio/kamailio-selfsigned.pem
#ca_list = /etc/kamailio/tls/cacert.pem
#crl = /etc/kamailio/tls/crl.pem
# This is the default client domain, settings
# in this domain will be used for all outgoing
# TLS connections that do not match any other
# client domain in this configuration file.
# We require that servers present valid certificate.
#
[client:default]
#method = TLSv1
verify_certificate = yes
require_certificate = yes
# This is an example server domain for TLS connections
# received from the loopback interface. We allow
# the use of SSLv2 and SSLv3 protocols here, we do
# not require that clients present client certificates
# but if they present it it must be valid. We also use
# a special certificate and CA list for loopback
# interface.
#
#[server:127.0.0.1:5061]
#method = TLSv1
#verify_certificate = yes
#require_certificate = no
#private_key = /etc/kamailio/tls/local_key.pem
#certificate = /etc/kamailio/tls/local_cert.pem
#verify_depth = 3
#ca_list = local_ca.pem
#crl = local_crl.pem
# Special settings for the example.sip (1.2.3.4) public SIP
# server. We do not verify the certificate of the
# server because it can be expired. The server
# implements authentication using SSL client
# certificates so configure the client certificate
# that was given to use by iptel.org staff here.
#
#[client:1.2.3.4:5061]
#verify_certificate = no
#certificate = /etc/kamailio/tls/example_client.pem
#private_key = /etc/kamailio/tls/example_key.pem
#ca_list = /etc/kamailio/tls/example_ca.pem
#crl = /etc/kamailio/tls/example_crl.pem
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