The normal solution doesn't help or apply here:

ssh -v user@192.168.5.41
OpenSSH_4.3p2 Debian-9etch3, OpenSSL 0.9.8c 05 Sep 2006
debug1: Reading configuration data /etc/ssh/ssh_config
debug1: Applying options for *
debug1: Connecting to 192.168.5.41 [192.168.5.41] port 22.
debug1: Connection established.
debug1: permanently_set_uid: 0/0
debug1: identity file /root/.ssh/identity type -1
debug1: identity file /root/.ssh/id_rsa type 1
debug1: identity file /root/.ssh/id_dsa type -1
debug1: Remote protocol version 2.0, remote software version OpenSSH_4.3
debug1: match: OpenSSH_4.3 pat OpenSSH*
debug1: Enabling compatibility mode for protocol 2.0
debug1: Local version string SSH-2.0-OpenSSH_4.3p2 Debian-9etch3
debug1: An invalid name was supplied
Cannot determine realm for numeric host address

debug1: An invalid name was supplied
A parameter was malformed
Validation error

debug1: An invalid name was supplied
Cannot determine realm for numeric host address

debug1: An invalid name was supplied
A parameter was malformed
Validation error

This almost seems like a conflict between the SSH client in Ubuntu and server in Centos.  However, this connection (client) is behind a VMWare NAT server so I'm not sure if that plays a role.