The rfc also describes why:
SIP provides a mechanism to represent common header field names in an
abbreviated form. This may be useful when messages would otherwise
become too large to be carried on the transport available to it
(exceeding the maximum transmission unit (MTU) when using UDP, for
example). These compact forms are defined in Section 20. A compact
form MAY be substituted for the longer form of a header field name at
any time without changing the semantics of the message. A header
field name MAY appear in both long and short forms within the same
message. Implementations MUST accept both the long and short forms
of each header name.