Try using defaultValueComputed instead of defaultValue. It is assuming you mean the string CURRENT_TIMESTAMP or ‘NOW()’. defaultValueComputed means it is not a string but a function.
One option that may work if you have a hard time getting a change to work is to just fall back to and specify exactly what you want, or use on the change to fix up/add anything that isn’t directly supported.
Mysql creates timestamp columns as not null by default. I wonder if liquibase is expecting that columns are nullable by default and so not passing on your nullable=true constraint. That may be worth creating an issue at liquibase.jira.com on