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On OVMS, MessageQ does not support multi-thread mode. That means all data are in process level, different threads will not synch in write/read operation. So you have to ensure all threads are running in line and all data are read from MessageQ context instead of stack variable.
Just for this case, my guess is maybe the "get" thread call pams_get_msg before the "attach" thread successfully finish pams_attach_q operation. If this is not the case, please enable the PAMS/IPI tracing and send me (email@example.com) the trace file so that I can do some analysis for you. Or you can directly send me your case if it's difficult to collect trace in your environment.
Hope this can be helpful.