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since rsyslog-8.37.0-9.el8

# cat /etc/rsyslog.conf 
$ModLoad imrelp
$InputRELPServerRun 5555
*.* /var/log/messages

# /sbin/rsyslogd -n -d
...
5764.517131315:main thread    : errmsg.c: Called LogMsg, msg: imrelp: no RELP listener defined, module can not run.
rsyslogd: imrelp: no RELP listener defined, module can not run. [v8.37.0-9.el8 try http://www.rsyslog.com/e/2172 ]
5764.517141928:main thread    : errmsg.c: Called LogMsg, msg: activation of module imrelp failed
rsyslogd: activation of module imrelp failed [v8.37.0-9.el8 try http://www.rsyslog.com/e/-3 ]
...


There's a workaround to use new syntax.

Since the problem described in this bug report should be
resolved in a recent advisory, it has been closed with a
resolution of ERRATA.

For information on the advisory, and where to find the updated
files, follow the link below.

If the solution does not work for you, open a new bug report.

https://access.redhat.com/errata/RHEA-2019:3371