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What are you plotting as the ground truth, I'm pretty sure that's the odometry and I think it's much better than your control algorithm. Your code is basically doing open loop control to hit a target angle and then assuming that the robot will stop immediately. Then driving forward at a known speed or distance and expecting it to stop immediately.
Your timing based turns consistently understeer due to not accounting for acceleration, and your tf based turns consistently oversteer due to not accounting for decceleration. Likewise the distances time based are similar or shorter than expected, while the drive until final distance go to far due not counting for accelerations and latency.
To get good following performance you should be continuously homing to your goal with a controller, and correcting for errors which build up as you drive.
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