After some more digging I found this behavior roots from the DNS
Resolver running on the Router (a Turris Omnia)

Local hosts get a name xxx.home.example.com from fixed DHCP leases and
the knot resolver (kresd) on the Turris responds with the local IPv4
Address for this hosts.

Queries for IPv6 Addresses of xxx.home.example.com get a NXDOMAIN
response from kresd.

systemd-resolved queries for A and AAAA records, the A request gets used
and the subsequent AAAA NXDOMAIN responce leads to a cache flush and a
negative caching for the name.

After tracking down the behavior a workaround in the turris kresd
configuration was proposed (https://github.com/CZ-NIC/turris-os-
packages/commit/42da887f8165dccc374c73c3ed9e024fba7b0c3e). This fixed my
problem.

Thanks, this bug can be closed, the source is not in systemd

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https://bugs.launchpad.net/bugs/1795913

Title:
  Systemd Resolver works unreliable to local DNS Names

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