Got a reply from a bug report I made:
http://fogbugz.unity3d.com/default.asp?1239748_4fsovmbisqj86vvt
Looks like the reason is that URP uses linear color space by default and the default render pipeline uses gamma.
See Unity - Manual: Linear or gamma workflow
Doing custom UI shader seems to be a good workarround for this:
I don’t get why this is not done by unity by default, though.