Systems: Ros2 galactic, Nav2, Smac Hybrid + RPP, Ackerman vehicle

We are currently encountering an Issue with the Cusp detection in RPP. We are trying to control a ackermann steered vehicle. As shown in the gif below the cusp detection in RPP only sometimes picks up the correct cusp for the tracking point. In some scenarios even a deadlock happens where the cusp detection and replanning lead to an infinite back and forth driving without progress.

Some questions arise:

Is the shown behavior the expected one? Shouldnt the vehicle be driven till the cusp point is reached ? Is there a logic explaining the cusp detection (tracking point selection) behaving in this way? If somebody could provide some insight or point us to some related explanations we would be very thankful.

Thanks in advance Philipp