After a long journey through the shallows of the internet and many tries a colleague of mine finally found a solution.
The solution was to combine both modules to one jdbc/aq module looking so:
path: ${WILDFLY_HOME}/modules/oracle/jdbcaq/main
contents: ojdbc5.jar, aqapi.jar, orai18n.jar, module.xml
module.xml:
<?xml version="1.0" encoding="UTF-8"?>
<module xmlns="urn:jboss:module:1.0" name="oracle.jdbcaq">
<resources>
<resource-root path="aqapi.jar" />
<resource-root path="ojdbc5.jar"/>
<resource-root path="orai18n.jar"/>
</resources>
<dependencies>
<module name="javax.api"/>
<module name="javax.jms.api" />
<module name="javax.transaction.api"/>
</dependencies>
</module>
I think this is somehow related to the module classloaders of wildfly. Maybe the communication between both modules (jdbc and aq) requires the native implementations to be loaded by the same classloader which causes this error when using two modules instead of a single one.