Gagan it looks like you are missing the "register" string in sip.conf. A look at your kazoo logs or SIP trace when you try to send a call from Asterisk into Kazoo would confirm, but it looks like with what you have, your Asterisk isn't actually trying to register. To have it do that, you need to have an additional line in the [general] section of sip.conf like this:
register=>SIP_ID:Password@20201126085320.sip.XXXX.com
Also you have "nsecure" where it should be "insecure" 😄