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git clone git://git.osmocom.org/rtl-sdr.git
cd rtl-sdr
mkdir build
cd build
cmake ../ -DINSTALL_UDEV_RULES=ON -DDETACH_KERNEL_DRIVER=ON
make
sudo make install
sudo reboot
The "cmake ../ -DINSTALL_UDEV_RULES=ON -DDETACH_KERNEL_DRIVER=ON" command is particularly useful, because it installs particular rules to the system so a normal user can run rtl_433, and also it automatically detachs the "normal" kernel module used by the DVB-T dongle to watch TV.
I doubt that the kali's librtlsdr-dev package has been compiled with those useful options, so if you don't want to compile rtl-sdr by yourself, you will have to disable the "normal" kernel module manually every time you start rtl_433 (or blacklist the kernel module).