These are roughly the steps that I've followed to switch to OpenSSL 1.0.2r and 
rebuild Kamailio TLS module. Hope this helps!

First of all you need to make and install OpenSSL 1.0.2r from source.

        sudo apt install build-essential checkinstall zlib1g-dev -y

        cd /usr/src

        wget https://www.openssl.org/source/openssl-1.0.2r.tar.gz

        tar -xvzf openssl-1.0.2r.tar.gz

        cd openssl-1.0.2r

        ./config -d --prefix=/usr/local/ssl --openssldir=/usr/local/ssl shared 
zlib

        make
        make test

        make install

        nano /etc/ld.so.conf.d/openssl-1.0.2r.conf
        
Add this line and save:
/usr/local/ssl/lib

        sudo ldconfig -v

        mv /usr/bin/c_rehash /usr/bin/c_rehash.BEKUP
        mv /usr/bin/openssl /usr/bin/openssl.BEKUP

        export PATH=$PATH:/usr/local/ssl/bin

Link binaries to path:
        sudo ln -s /usr/local/ssl/bin/c_rehash /usr/bin/c_rehash
        sudo ln -s /usr/local/ssl/bin/openssl /usr/bin/openssl

Restart.
        sudo shutdown -r now
        
Check OpenSSL path, should return '/usr/bin/openssl'.
        which openssl

Check OpenSSL version, should return 'OpenSSL 1.0.2r  26 Feb 2019'
        openssl version

Modify '/usr/src/kamailio/src/modules/tls/makefile'.

Changed this:
        ifneq ($(SSL_BUILDER),)
                DEFS += $(shell $(SSL_BUILDER) --cflags)
                LIBS += $(shell $(SSL_BUILDER) --libs)
        else
                DEFS += -I$(LOCALBASE)/ssl/include
                LIBS += -L$(LOCALBASE)/lib -L$(LOCALBASE)/ssl/lib \
                                -L$(LOCALBASE)/lib64 -L$(LOCALBASE)/ssl/lib64 \
                                -lssl -lcrypto
                # NOTE: depending on the way in which libssl was compiled you 
might
                #       have to add -lz -lkrb5   (zlib and kerberos5).
                #       E.g.: make TLS_HOOKS=1 TLS_EXTRA_LIBS="-lz -lkrb5"
        endif
        
To this:
        DEFS+=  -I/usr/local/ssl/include
        LIBS+=  -L/usr/local/ssl/lib \
                        -lssl -lcrypto
                        
Make clean, make and make install:
        cd /usr/src/kamailio/src/modules/tls
        make clean
        make
        make install

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