I tested that:
I put a „xlog“ before every use of uac_replace_to and every uac_replace_from.
Both got called only once per call.

I rechecked and summarized the problem:
5.6.6
    INVITE w/ brackets + uac_replace_to
        kamailio inserts a space between "To:" and "<sip..." (e.g. 
"To:[SPACE][SPACE]<sip...")
        no problem here
    INVITE w/o brackets + uac_replace_to
        kamailio inserts a space between "To:" and "<sip..."
        no problem here
    INVITE w/ brackets + remove_hf/append_hf
        kamailio inserts a space between "To:" and "<sip..."
        no problem here
    INVITE w/o brackets + remove_hf/append_hf
        kamailio inserts a space before "From:" (e.g. 
"[SPACE]From:[SPACE][SPACE]<sip...")
        The "To:" header looks good
5.8.4
    INVITE w/ brackets + uac_replace_to
        kamailio inserts a space between "To:" and "<sip..." (e.g. 
"To:[SPACE][SPACE]<sip...")
        no problem here
    INVITE w/o brackets + uac_replace_to
        kamailio inserts a space between "To:" and "<sip..."
        no problem here
    INVITE w/ brackets + remove_hf/append_hf
        kamailio inserts a space between "To:" and "<sip..."
        no problem here
    INVITE w/o brackets + remove_hf/append_hf
        kamailio inserts a space before "From:" (e.g. 
"[SPACE]From:[SPACE][SPACE]<sip...")
        The "To:" header looks good
5.8.5
    INVITE w/ brackets + uac_replace_to
        kamailio inserts a space between "To:" and "<sip..." (e.g. 
"To:[SPACE][SPACE]<sip...")
        no problem here
    INVITE w/o brackets + uac_replace_to
        kamailio inserts a space between "To:" and "<sip..."
        it also appends the new value after the old (e.g. 
"To:[SPACE][SPACE]<OLDVALUE>NEWVALUE"
    INVITE w/ brackets + remove_hf/append_hf
        kamailio inserts a space before "From:" (e.g. 
"[SPACE]From:[SPACE][SPACE]<sip...")
        The "To:" header looks good
    INVITE w/o brackets + remove_hf/append_hf
        kamailio inserts a space and the old value of "To" before the "From" 
(e.g. "[SPACE]<sipOldToHeader>From:[SPACE][SPACE]<sip...>")
        The "To:" header looks good
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