JMS 2.0 durable subscriptions topic best practice in Kubernetes
In JMS 2.0 you don't have to set the client identifier when creating a shared durable subscription. However, if you do set the client identifier then it must be unique per connection. For whatever reason (e.g. due to Mule or perhaps K8s) multiple connections are being created and since each connection is using the same client identifier you're receiving the javax.jms.InvalidClientIDException.
Remove clientId="${mq.client.id}" from your configuration and the javax.jms.InvalidClientIDException should go away.