This is not a Camel but a Kafka question. The rebalancing is handled by Kafka and triggered whenever a consumer explicitly leaves the consumer group or silently dies (does no more sending heartbeats).
Kafka 2.3 introduced a new feature called "Static Membership" to avoid rebalancing just because of a consumer restart.
But in your case (another consumer must take the load of a leaving consumer) I think Kafka must trigger a rebalancing over all consumers due to the protocol used.
See also this article for a quite deep dive into rebalancing and its trade-offs between availability and fault-tolerance.
Edit due to comments
If you want to avoid rebalancing, I think you would have to increase both session.timeout.ms
(heartbeat interval) and max.poll.interval.ms
(processing timeout).
But even if you set them very high I guess it would not work reliably because route suspension could still happen just before a heartbeat (simply bad timing).
See this q&a for the difference between session.timeout.ms
and max.poll.interval.ms
.